map_grid_visualizer.h

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#ifndef MAP_GRID_VISUALIZER_H_
#define MAP_GRID_VISUALIZER_H_

#include <ros/ros.h>
#include <base_local_planner/map_grid.h>
#include <costmap_2d/costmap_2d.h>
#include <base_local_planner/map_grid_cost_point.h>
#include <pcl_ros/publisher.h>

namespace base_local_planner {
    class MapGridVisualizer {
        public:
            MapGridVisualizer();

            void initialize(const std::string& name,const costmap_2d::Costmap2D * costmap, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function);

            ~MapGridVisualizer() {}

            void publishCostCloud();

        private:
            std::string name_; 
            std::string frame_id_; 
            boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function_; 
            bool publish_cost_grid_pc_; 
            const costmap_2d::Costmap2D *costmap_p_; 
            ros::NodeHandle ns_nh_;
            pcl::PointCloud<MapGridCostPoint> cost_cloud_;
            pcl_ros::Publisher<MapGridCostPoint> pub_;
    };
};

#endif