.. _program_listing_file__tmp_ws_src_grid_map_grid_map_visualization_include_grid_map_visualization_visualizations_VectorVisualization.hpp:

Program Listing for File VectorVisualization.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_visualization_include_grid_map_visualization_visualizations_VectorVisualization.hpp>` (``/tmp/ws/src/grid_map/grid_map_visualization/include/grid_map_visualization/visualizations/VectorVisualization.hpp``)

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

.. code-block:: cpp

   /*
    * VectorVisualization.hpp
    *
    *  Created on: Sep 16, 2014
    *      Author: Péter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    */
   
   #ifndef GRID_MAP_VISUALIZATION__VISUALIZATIONS__VECTORVISUALIZATION_HPP_
   #define GRID_MAP_VISUALIZATION__VISUALIZATIONS__VECTORVISUALIZATION_HPP_
   
   #include <grid_map_core/GridMap.hpp>
   
   // ROS
   #include <rclcpp/rclcpp.hpp>
   #include <visualization_msgs/msg/marker.hpp>
   #include <std_msgs/msg/color_rgba.hpp>
   
   // STD
   #include <string>
   #include <vector>
   
   #include "grid_map_visualization/visualizations/VisualizationBase.hpp"
   
   namespace grid_map_visualization
   {
   
   class VectorVisualization : public VisualizationBase
   {
   public:
     explicit VectorVisualization(const std::string & name, rclcpp::Node::SharedPtr nodePtr);
   
     virtual ~VectorVisualization();
   
     bool readParameters() override;
   
     bool initialize() override;
   
     bool visualize(const grid_map::GridMap & map) override;
   
   private:
     visualization_msgs::msg::Marker marker_;
   
     std::vector<std::string> types_;
   
     std::string positionLayer_;
   
     double scale_;
   
     double lineWidth_;
   
     std_msgs::msg::ColorRGBA color_;
   
     rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr publisher_;
   };
   
   }  // namespace grid_map_visualization
   #endif  // GRID_MAP_VISUALIZATION__VISUALIZATIONS__VECTORVISUALIZATION_HPP_