.. _program_listing_file__tmp_ws_src_grid_map_grid_map_visualization_include_grid_map_visualization_GridMapVisualization.hpp:

Program Listing for File GridMapVisualization.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_visualization_include_grid_map_visualization_GridMapVisualization.hpp>` (``/tmp/ws/src/grid_map/grid_map_visualization/include/grid_map_visualization/GridMapVisualization.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * GridMapVisualization.hpp
    *
    *  Created on: Nov 19, 2013
    *      Author: Péter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    *
    */
   
   #ifndef GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATION_HPP_
   #define GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATION_HPP_
   
   #include <grid_map_msgs/msg/grid_map.hpp>
   #include <grid_map_visualization/visualizations/MapRegionVisualization.hpp>
   #include <grid_map_visualization/visualizations/OccupancyGridVisualization.hpp>
   #include <grid_map_visualization/visualizations/PointCloudVisualization.hpp>
   #include <grid_map_visualization/visualizations/VectorVisualization.hpp>
   #include <grid_map_visualization/visualizations/VisualizationFactory.hpp>
   
   // ROS
   #include <rclcpp/rclcpp.hpp>
   
   // STD
   #include <memory>
   #include <string>
   #include <vector>
   
   namespace grid_map_visualization
   {
   
   class GridMapVisualization
   {
   public:
     explicit GridMapVisualization(const std::string & parameterName);
   
     virtual ~GridMapVisualization();
   
     void callback(const grid_map_msgs::msg::GridMap::SharedPtr message);
   
     rclcpp::Node::SharedPtr nodePtr;
   
   private:
     bool readParameters();
   
     bool initialize();
   
     void updateSubscriptionCallback();
   
     std::string visualizationsParameter_;
   
     rclcpp::Subscription<grid_map_msgs::msg::GridMap>::SharedPtr mapSubscriber_;
   
     std::string mapTopic_;
   
     std::vector<std::shared_ptr<VisualizationBase>> visualizations_;
   
     std::shared_ptr<VisualizationFactory> factory_;
   
     rclcpp::TimerBase::SharedPtr activityCheckTimer_;
   
     double activityCheckRate_;
   
     bool isSubscribed_;
   
     bool isGridMapSubLatched_;
   };
   
   }  // namespace grid_map_visualization
   #endif  // GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATION_HPP_