.. _program_listing_file__tmp_ws_src_octomap_mapping_octomap_server_include_octomap_server_octomap_server_multilayer.hpp:

Program Listing for File octomap_server_multilayer.hpp
======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_mapping_octomap_server_include_octomap_server_octomap_server_multilayer.hpp>` (``/tmp/ws/src/octomap_mapping/octomap_server/include/octomap_server/octomap_server_multilayer.hpp``)

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

.. code-block:: cpp

   // Copyright 2010-2013, A. Hornung, M. Philips. All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #ifndef OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_
   #define OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_
   
   #include <octomap_server/octomap_server.hpp>
   
   #include <string>
   #include <vector>
   
   namespace octomap_server
   {
   class OctomapServerMultilayer : public OctomapServer
   {
   public:
     explicit OctomapServerMultilayer(const rclcpp::NodeOptions & node_options);
   
   protected:
     struct ProjectedMap
     {
       double min_z;
       double max_z;
       double z;  // for visualization
       std::string name;
       OccupancyGrid map;
     };
     using MultilevelGrid = std::vector<ProjectedMap>;
   
     virtual void handlePreNodeTraversal(const rclcpp::Time & rostime);
   
     virtual void update2DMap(const OcTreeT::iterator & it, bool occupied);
   
     virtual void handlePostNodeTraversal(const rclcpp::Time & rostime);
   
     std::vector<rclcpp::Publisher<OccupancyGrid>::SharedPtr> multi_map_pub_;
   
     std::vector<std::string> arm_links_;
     std::vector<double> arm_link_offsets_;
   
     MultilevelGrid multi_gridmap_;
   };
   }  // namespace octomap_server
   
   #endif  // OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_