CRegistrationDeciderOrOptimizer_ROS.h

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#pragma once

#include <ros/ros.h>

#include <mrpt/utils/COutputLogger.h>
#include <mrpt/graphslam/interfaces/CRegistrationDeciderOrOptimizer.h>

namespace mrpt { namespace graphslam {

template<class GRAPH_t=typename mrpt::graphs::CNetworkOfPoses2DInf>
class CRegistrationDeciderOrOptimizer_ROS :
        public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_t>
{
public:
        CRegistrationDeciderOrOptimizer_ROS();
        virtual ~CRegistrationDeciderOrOptimizer_ROS();

        virtual void setNodeHandle(ros::NodeHandle* nh);

protected:
        ros::NodeHandle* m_nh;


};


} } // end of namespaces

#include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_ROS_impl.h"