00001 #pragma once 00002 00003 #include <ros/ros.h> 00004 00005 #include <mrpt/utils/COutputLogger.h> 00006 #include <mrpt/graphslam/interfaces/CRegistrationDeciderOrOptimizer.h> 00007 00008 namespace mrpt { namespace graphslam { 00009 00015 template<class GRAPH_t=typename mrpt::graphs::CNetworkOfPoses2DInf> 00016 class CRegistrationDeciderOrOptimizer_ROS : 00017 public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_t> 00018 { 00019 public: 00020 CRegistrationDeciderOrOptimizer_ROS(); 00021 virtual ~CRegistrationDeciderOrOptimizer_ROS(); 00022 00023 virtual void setNodeHandle(ros::NodeHandle* nh); 00024 00025 protected: 00028 ros::NodeHandle* m_nh; 00029 00030 00031 }; 00032 00033 00034 } } // end of namespaces 00035 00036 #include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_ROS_impl.h" 00037