.. _program_listing_file__tmp_ws_src_octomap_mapping_octomap_server_include_octomap_server_octomap_server_static.hpp:

Program Listing for File octomap_server_static.hpp
==================================================

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

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

.. code-block:: cpp

   // Copyright 2021, Daisuke Nishimatsu. 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_STATIC_HPP_
   #define OCTOMAP_SERVER__OCTOMAP_SERVER_STATIC_HPP_
   
   #include <octomap/octomap.h>
   
   #include <memory>
   #include <string>
   
   #include "rclcpp/rclcpp.hpp"
   #include "octomap_msgs/srv/get_octomap.hpp"
   
   namespace octomap_server
   {
   using octomap_msgs::srv::GetOctomap;
   
   class OctomapServerStatic : public rclcpp::Node
   {
   public:
     explicit OctomapServerStatic(const rclcpp::NodeOptions & node_options);
   
   private:
     bool onOctomapBinarySrv(
       const std::shared_ptr<GetOctomap::Request> req,
       const std::shared_ptr<GetOctomap::Response> res);
     bool onOctomapFullSrv(
       const std::shared_ptr<GetOctomap::Request> req,
       const std::shared_ptr<GetOctomap::Response> res);
   
     rclcpp::Service<GetOctomap>::SharedPtr octomap_binary_srv_;
     rclcpp::Service<GetOctomap>::SharedPtr octomap_full_srv_;
     std::string frame_id_;
     std::unique_ptr<octomap::AbstractOccupancyOcTree> octree_;
   };
   }  // namespace octomap_server
   
   #endif  // OCTOMAP_SERVER__OCTOMAP_SERVER_STATIC_HPP_