.. _program_listing_file__tmp_ws_src_grid_map_grid_map_visualization_include_grid_map_visualization_visualizations_OccupancyGridVisualization.hpp:

Program Listing for File OccupancyGridVisualization.hpp
=======================================================

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

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

.. code-block:: cpp

   /*
    * PointCloudOccupancyGrid.hpp
    *
    *  Created on: Nov 3, 2014
    *      Author: Péter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    */
   
   #ifndef GRID_MAP_VISUALIZATION__VISUALIZATIONS__OCCUPANCYGRIDVISUALIZATION_HPP_
   #define GRID_MAP_VISUALIZATION__VISUALIZATIONS__OCCUPANCYGRIDVISUALIZATION_HPP_
   
   #include <grid_map_core/GridMap.hpp>
   #include <nav_msgs/msg/occupancy_grid.hpp>
   
   #include <string>
   
   #include "grid_map_visualization/visualizations/VisualizationBase.hpp"
   
   namespace grid_map_visualization
   {
   
   class OccupancyGridVisualization : public VisualizationBase
   {
   public:
     explicit OccupancyGridVisualization(const std::string & name, rclcpp::Node::SharedPtr nodePtr);
   
     virtual ~OccupancyGridVisualization();
   
     bool readParameters() override;
   
     bool initialize() override;
   
     bool visualize(const grid_map::GridMap & map) override;
   
   private:
     std::string layer_;
   
     // (used to normalize the cell data in [min, max]).
     float dataMin_, dataMax_;
   
     rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr publisher_;
   };
   
   }  // namespace grid_map_visualization
   #endif  // GRID_MAP_VISUALIZATION__VISUALIZATIONS__OCCUPANCYGRIDVISUALIZATION_HPP_