VisualizationBase.hpp

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/*
 * VisualizationBase.hpp
 *
 *  Created on: Mar 20, 2015
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <grid_map_core/GridMap.hpp>

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

namespace grid_map_visualization {

typedef std::map<std::string, XmlRpc::XmlRpcValue> StringMap;

class VisualizationBase
{
 public:

  VisualizationBase(ros::NodeHandle& nodeHandle, const std::string& name);

  virtual ~VisualizationBase();

  virtual bool readParameters(XmlRpc::XmlRpcValue& config);

  virtual bool initialize() = 0;

  virtual bool visualize(const grid_map::GridMap& map) = 0;

  bool isActive() const;

 protected:

  bool getParam(const std::string& name, std::string& value);

  bool getParam(const std::string& name, double& value);

  bool getParam(const std::string& name, float& value);

  bool getParam(const std::string&name, int& value);

  bool getParam(const std::string& name, bool& value);

  ros::NodeHandle& nodeHandle_;

  std::string name_;

  StringMap parameters_;

  ros::Publisher publisher_;
};

} /* namespace */