map_grid_visualizer.h
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00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2010, Eric Perko
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00007  *  Redistribution and use in source and binary forms, with or without
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00034 #ifndef MAP_GRID_VISUALIZER_H_
00035 #define MAP_GRID_VISUALIZER_H_
00036 
00037 #include <ros/ros.h>
00038 #include <base_local_planner/map_grid.h>
00039 #include <costmap_2d/costmap_2d.h>
00040 #include <base_local_planner/map_grid_cost_point.h>
00041 #include <pcl_ros/publisher.h>
00042 
00043 namespace base_local_planner {
00044     class MapGridVisualizer {
00045         public:
00049             MapGridVisualizer();
00050 
00057             void initialize(const std::string& name,const costmap_2d::Costmap2D * costmap, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function);
00058 
00062             ~MapGridVisualizer() {}
00063 
00067             void publishCostCloud();
00068 
00069         private:
00070             std::string name_; 
00071             std::string frame_id_; 
00072             boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function_; 
00073             bool publish_cost_grid_pc_; 
00074             const costmap_2d::Costmap2D *costmap_p_; 
00075             ros::NodeHandle ns_nh_;
00076             pcl::PointCloud<MapGridCostPoint> cost_cloud_;
00077             pcl_ros::Publisher<MapGridCostPoint> pub_;
00078     };
00079 };
00080 
00081 #endif
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bipedRobinBase_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko
autogenerated on Wed Oct 9 2013 10:07:14