Program Listing for File VisualizationBase.hpp
↰ Return to documentation for file (include/grid_map_visualization/visualizations/VisualizationBase.hpp
)
/*
* VisualizationBase.hpp
*
* Created on: Mar 20, 2015
* Author: Péter Fankhauser
* Institute: ETH Zurich, ANYbotics
*/
#ifndef GRID_MAP_VISUALIZATION__VISUALIZATIONS__VISUALIZATIONBASE_HPP_
#define GRID_MAP_VISUALIZATION__VISUALIZATIONS__VISUALIZATIONBASE_HPP_
#include <grid_map_core/GridMap.hpp>
// ROS
#include <rclcpp/rclcpp.hpp>
#include <map>
#include <string>
namespace grid_map_visualization
{
class VisualizationBase
{
public:
explicit VisualizationBase(const std::string & name, rclcpp::Node::SharedPtr nodePtr);
virtual ~VisualizationBase();
virtual bool readParameters() = 0;
virtual bool initialize() = 0;
virtual bool visualize(const grid_map::GridMap & map) = 0;
bool isActive() const;
protected:
std::string name_;
rclcpp::Node::SharedPtr nodePtr_;
};
} // namespace grid_map_visualization
#endif // GRID_MAP_VISUALIZATION__VISUALIZATIONS__VISUALIZATIONBASE_HPP_