19 #ifndef SLAM_TOOLBOX_TOOLBOX_TYPES_H_
20 #define SLAM_TOOLBOX_TOOLBOX_TYPES_H_
28 #include "sensor_msgs/LaserScan.h"
29 #include "geometry_msgs/PoseWithCovarianceStamped.h"
34 #define MAP_IDX(sx, i, j) ((sx) * (j) + (i))
46 sensor_msgs::LaserScan::ConstPtr
scan;
73 typedef std::vector<karto::Vertex<karto::LocalizedRangeScan>*>
Vertices;
118 typedef std::map<karto::Name, std::map<int, karto::Vertex<karto::LocalizedRangeScan>*>>
VerticeMap;
119 typedef std::vector<karto::Edge<karto::LocalizedRangeScan>*>
EdgeVector;
120 typedef std::map<int, karto::Vertex<karto::LocalizedRangeScan>*>
ScanMap;
121 typedef std::vector<karto::Vertex<karto::LocalizedRangeScan>*>
ScanVector;
122 typedef slam_toolbox_msgs::DeserializePoseGraph::Request
procType;
129 #endif //SLAM_TOOLBOX_TOOLBOX_TYPES_H_