map_grid_visualizer.h

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#ifndef MAP_GRID_VISUALIZER_H_
#define MAP_GRID_VISUALIZER_H_
 
#include <ros/ros.h>
#include <base_local_planner/map_grid.h>
#include <costmap_2d/costmap_2d.h>
 
namespace base_local_planner {
    class MapGridVisualizer {
        public:
            MapGridVisualizer();
 
            void initialize(const std::string& name, std::string frame, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function);
 
            void publishCostCloud(const costmap_2d::Costmap2D* costmap_p_);
 
        private:
            std::string name_; 
            boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function_; 
            ros::NodeHandle ns_nh_;
            std::string frame_id_;
            ros::Publisher pub_;
    };
};
 
#endif