00001 #ifndef CREGISTRATIONDECIDEROROPTIMIZER_ROS_H 00002 #define CREGISTRATIONDECIDEROROPTIMIZER_ROS_H 00003 00004 #include <ros/ros.h> 00005 00006 #include <mrpt/utils/COutputLogger.h> 00007 #include <mrpt/graphslam/interfaces/CRegistrationDeciderOrOptimizer.h> 00008 00009 namespace mrpt { namespace graphslam { 00010 00016 template<class GRAPH_t=typename mrpt::graphs::CNetworkOfPoses2DInf> 00017 class CRegistrationDeciderOrOptimizer_ROS : 00018 public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_t> 00019 { 00020 public: 00021 CRegistrationDeciderOrOptimizer_ROS(); 00022 virtual ~CRegistrationDeciderOrOptimizer_ROS(); 00023 00024 virtual void setNodeHandle(ros::NodeHandle* nh); 00025 00026 protected: 00029 ros::NodeHandle* m_nh; 00030 00031 00032 }; 00033 00034 00035 } } // end of namespaces 00036 00037 #include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_ROS_impl.h" 00038 00039 #endif /* end of include guard: CREGISTRATIONDECIDEROROPTIMIZER_ROS_H */