CRegistrationDeciderOrOptimizer_ROS.h

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#pragma once
 
#include <ros/ros.h>
 
#include <mrpt/system/COutputLogger.h>
#include <mrpt/graphslam/interfaces/CRegistrationDeciderOrOptimizer.h>
 
namespace mrpt { namespace graphslam {
 
template<class GRAPH_t=typename mrpt::graphs::CNetworkOfPoses2DInf>
class CRegistrationDeciderOrOptimizer_ROS :
        public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_t>
{
public:
        CRegistrationDeciderOrOptimizer_ROS();
        virtual ~CRegistrationDeciderOrOptimizer_ROS();
 
        virtual void setNodeHandle(ros::NodeHandle* nh);
 
protected:
        ros::NodeHandle* m_nh;
 
 
};
 
 
} } // end of namespaces
 
#include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_ROS_impl.h"