amcl.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <smacc2/smacc.hpp>
 
namespace cl_nav2z
{
class Amcl : public smacc2::ISmaccComponent
{
public:
  Amcl();
  virtual ~Amcl();
 
  std::string getName() const override;
 
  void onInitialize() override;
 
  void setInitialPose(const geometry_msgs::msg::PoseWithCovarianceStamped & initialpose);
 
private:
  rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr initalPosePub_;
};
 
}  // namespace cl_nav2z