.. _program_listing_file_include_moveit_occupancy_map_monitor_occupancy_map_monitor_middleware_handle.hpp:

Program Listing for File occupancy_map_monitor_middleware_handle.hpp
====================================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_occupancy_map_monitor_occupancy_map_monitor_middleware_handle.hpp>` (``include/moveit/occupancy_map_monitor/occupancy_map_monitor_middleware_handle.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Tyler Weaver */
   
   #pragma once
   
   #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
   #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
   
   #include <pluginlib/class_loader.hpp>
   #include <rclcpp/rclcpp.hpp>
   
   #include <memory>
   #include <string>
   #include <utility>
   #include <vector>
   
   namespace occupancy_map_monitor
   {
   class OccupancyMapMonitorMiddlewareHandle : public OccupancyMapMonitor::MiddlewareHandle
   {
   public:
     OccupancyMapMonitorMiddlewareHandle(const rclcpp::Node::SharedPtr& node, double map_resolution,
                                         const std::string& map_frame);
   
     OccupancyMapMonitor::Parameters getParameters() const override;
   
     OccupancyMapUpdaterPtr loadOccupancyMapUpdater(const std::string& sensor_plugin) override;
   
     void initializeOccupancyMapUpdater(OccupancyMapUpdaterPtr occupancy_map_updater) override;
   
     void createSaveMapService(OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback callback) override;
   
     void createLoadMapService(OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback callback) override;
   
   private:
     rclcpp::Node::SharedPtr node_;                                       
     rclcpp::Service<moveit_msgs::srv::SaveMap>::SharedPtr save_map_srv_; 
     rclcpp::Service<moveit_msgs::srv::LoadMap>::SharedPtr load_map_srv_; 
     std::unique_ptr<pluginlib::ClassLoader<OccupancyMapUpdater>>
         updater_plugin_loader_; 
     OccupancyMapMonitor::Parameters parameters_; 
     rclcpp::Logger logger_;
   };
   
   }  // namespace occupancy_map_monitor