19 #ifndef SLAM_TOOLBOX_SLAM_MAPPER_H_ 20 #define SLAM_TOOLBOX_SLAM_MAPPER_H_ 30 using namespace ::
karto;
67 #endif //SLAM_TOOLBOX_SLAM_MAPPER_H_ void configure(const ros::NodeHandle &nh)
tf2::Transform toTfPose(const karto::Pose2 &pose) const
void clearLocalizationBuffer()
karto::OccupancyGrid * getOccupancyGrid(const double &resolution)
void setMapper(karto::Mapper *mapper)
std::unique_ptr< karto::Mapper > mapper_
karto::Pose2 toKartoPose(const tf2::Transform &pose) const
karto::Mapper * getMapper()