TNeighborAgentMapProps.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <ros/ros.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/Path.h>
#include <mrpt_bridge/map.h>
#include <mrpt_msgs/GraphSlamAgents.h>
#include <mrpt/utils/COutputLogger.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/math/utils.h>

namespace mrpt { namespace graphslam {

struct TNeighborAgentMapProps
{
        TNeighborAgentMapProps(
                        mrpt::utils::COutputLogger* logger_in,
                        const mrpt_msgs::GraphSlamAgent& agent_in,
                        ros::NodeHandle* nh_in);

        void readROSParameters();
        void setupComm();
        void setupSubs();
        void setupPubs();
        void updateGridMap(
                        const nav_msgs::OccupancyGrid::ConstPtr& nav_gridmap);
        void updateRobotTrajectory(
                        const nav_msgs::Path::ConstPtr& nav_robot_traj);

        size_t getNodeCount() { return nav_robot_trajectory->poses.size(); }

        mrpt::utils::COutputLogger* m_logger;
        ros::NodeHandle* nh;
        const mrpt_msgs::GraphSlamAgent& agent;
        nav_msgs::OccupancyGrid::ConstPtr nav_map;
        nav_msgs::Path::ConstPtr nav_robot_trajectory;
        ros::Subscriber map_sub;
        ros::Subscriber robot_trajectory_sub;
        std::string map_topic;
        std::string robot_trajectory_topic;
        size_t queue_size;
        bool has_init_class;
        bool has_setup_comm;


}; // end of TNeighborAgentMapProps

} } // end of namespaces