Program Listing for File offline_node.h
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/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_OFFLINE_NODE_H
#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_OFFLINE_NODE_H
#include <functional>
#include <memory>
#include <string>
#include <vector>
#include <rclcpp/rclcpp.hpp>
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer_ros/node_options.h"
namespace cartographer_ros {
using MapBuilderFactory =
std::function<std::unique_ptr<::cartographer::mapping::MapBuilderInterface>(
const ::cartographer::mapping::proto::MapBuilderOptions&)>;
void RunOfflineNode(const MapBuilderFactory& map_builder_factory,
rclcpp::Node::SharedPtr cartographer_offline_node);
} // namespace cartographer_ros
#endif // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_OFFLINE_NODE_H