00001 /* 00002 * GridCellsVisualization.hpp 00003 * 00004 * Created on: Mar 28, 2015 00005 * Author: Péter Fankhauser 00006 * Institute: ETH Zurich, ANYbotics 00007 */ 00008 00009 #pragma once 00010 00011 #include <grid_map_visualization/visualizations/VisualizationBase.hpp> 00012 #include <grid_map_core/GridMap.hpp> 00013 00014 // ROS 00015 #include <ros/ros.h> 00016 00017 namespace grid_map_visualization { 00018 00019 class GridCellsVisualization : public VisualizationBase 00020 { 00021 public: 00022 00028 GridCellsVisualization(ros::NodeHandle& nodeHandle, const std::string& name); 00029 00033 virtual ~GridCellsVisualization(); 00034 00040 bool readParameters(XmlRpc::XmlRpcValue& config); 00041 00045 bool initialize(); 00046 00052 bool visualize(const grid_map::GridMap& map); 00053 00054 private: 00055 00057 std::string layer_; 00058 00060 float lowerThreshold_, upperThreshold_; 00061 }; 00062 00063 } /* namespace */