GridMapVisualization.hpp

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/*
 * GridMapVisualization.hpp
 *
 *  Created on: Nov 19, 2013
 *      Author: Péter Fankhauser
 *       Institute: ETH Zurich, ANYbotics
 *
 */

#pragma once

#include <grid_map_msgs/GridMap.h>
#include <grid_map_visualization/visualizations/VisualizationFactory.hpp>
#include <grid_map_visualization/visualizations/MapRegionVisualization.hpp>
#include <grid_map_visualization/visualizations/PointCloudVisualization.hpp>
#include <grid_map_visualization/visualizations/VectorVisualization.hpp>
#include <grid_map_visualization/visualizations/OccupancyGridVisualization.hpp>

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

// STD
#include <vector>
#include <memory>

namespace grid_map_visualization {

class GridMapVisualization
{
 public:

  GridMapVisualization(ros::NodeHandle& nodeHandle, const std::string& parameterName);

  virtual ~GridMapVisualization();

  void callback(const grid_map_msgs::GridMap& message);

 private:

  bool readParameters();

  bool initialize();

  void updateSubscriptionCallback(const ros::TimerEvent& timerEvent);

  ros::NodeHandle& nodeHandle_;

  std::string visualizationsParameter_;

  ros::Subscriber mapSubscriber_;

  std::string mapTopic_;

  std::vector<std::shared_ptr<VisualizationBase>> visualizations_;

  VisualizationFactory factory_;

  ros::Timer activityCheckTimer_;

  ros::Duration activityCheckDuration_;

  bool isSubscribed_;
};

} /* namespace */