Class VisualizationBase

• Defined in File VisualizationBase.hpp

Inheritance Relationships

Derived Types

• public grid_map_visualization::FlatPointCloudVisualization (Class FlatPointCloudVisualization)

• public grid_map_visualization::GridCellsVisualization (Class GridCellsVisualization)

• public grid_map_visualization::MapRegionVisualization (Class MapRegionVisualization)

• public grid_map_visualization::OccupancyGridVisualization (Class OccupancyGridVisualization)

• public grid_map_visualization::PointCloudVisualization (Class PointCloudVisualization)

• public grid_map_visualization::VectorVisualization (Class VectorVisualization)

Class Documentation

class VisualizationBase

Subclassed by grid_map_visualization::FlatPointCloudVisualization, grid_map_visualization::GridCellsVisualization, grid_map_visualization::MapRegionVisualization, grid_map_visualization::OccupancyGridVisualization, grid_map_visualization::PointCloudVisualization, grid_map_visualization::VectorVisualization

Public Functions

explicit VisualizationBase(const std::string &name, rclcpp::Node::SharedPtr nodePtr)

Constructor.

Parameters:

name – the name of the visualization.

virtual ~VisualizationBase()

Destructor.

virtual bool readParameters() = 0

Read parameters from ROS.

Returns:

true if successful.

virtual bool initialize() = 0

Initialization.

virtual bool visualize(const grid_map::GridMap &map) = 0

Generates the visualization.

Parameters:

map – the grid map to visualize.

Returns:

true if successful.

bool isActive() const

Checks if visualization is active (if somebody has actually subscribed).

Returns:

true if active, false otherwise.

Protected Attributes

std::string name_

visualization name

rclcpp::Node::SharedPtr nodePtr_

ROS node shared pointer.