GridCellsVisualization.hpp

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/*
 * GridCellsVisualization.hpp
 *
 *  Created on: Mar 28, 2015
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <grid_map_visualization/visualizations/VisualizationBase.hpp>
#include <grid_map_core/GridMap.hpp>

// ROS
#include <ros/ros.h>

namespace grid_map_visualization {

class GridCellsVisualization : public VisualizationBase
{
 public:

  GridCellsVisualization(ros::NodeHandle& nodeHandle, const std::string& name);

  virtual ~GridCellsVisualization();

  bool readParameters(XmlRpc::XmlRpcValue& config);

  bool initialize();

  bool visualize(const grid_map::GridMap& map);

 private:

  std::string layer_;

  float lowerThreshold_, upperThreshold_;
};

} /* namespace */