IteratorsDemo.hpp

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/*
 * IteratorsDemo.hpp
 *
 *  Created on: Nov 4, 2014
 *      Author: Péter Fankhauser
 *       Institute: ETH Zurich, Autonomous Systems Lab
 *
 */

#pragma once

#include <grid_map_ros/grid_map_ros.hpp>

// ROS
#include <ros/ros.h>

namespace grid_map_demos {

class IteratorsDemo
{
 public:

  IteratorsDemo(ros::NodeHandle& nodeHandle);

  virtual ~IteratorsDemo();

  void demoGridMapIterator();
  void demoSubmapIterator();
  void demoCircleIterator();
  void demoEllipseIterator();
  void demoSpiralIterator();
  void demoLineIterator();
  void demoPolygonIterator(const bool prepareForOtherDemos = false);
  void demoSlidingWindowIterator();

  void publish();

 private:

  ros::NodeHandle& nodeHandle_;

  ros::Publisher gridMapPublisher_;

  ros::Publisher polygonPublisher_;

  grid_map::GridMap map_;
};

} /* namespace */