\hypertarget{visualization_8cpp}{}\doxysection{nuslam/src/visualization.cpp File Reference}
\label{visualization_8cpp}\index{nuslam/src/visualization.cpp@{nuslam/src/visualization.cpp}}


The simulation visualization.  


{\ttfamily \#include \char`\"{}rigid2d/diff\+\_\+drive.\+hpp\char`\"{}}\newline
{\ttfamily \#include \char`\"{}rigid2d/rigid2d.\+hpp\char`\"{}}\newline
{\ttfamily \#include \char`\"{}ros/ros.\+h\char`\"{}}\newline
{\ttfamily \#include $<$geometry\+\_\+msgs/\+Pose.\+h$>$}\newline
{\ttfamily \#include $<$geometry\+\_\+msgs/\+Pose\+Stamped.\+h$>$}\newline
{\ttfamily \#include $<$nav\+\_\+msgs/\+Odometry.\+h$>$}\newline
{\ttfamily \#include $<$nav\+\_\+msgs/\+Path.\+h$>$}\newline
{\ttfamily \#include $<$cmath$>$}\newline
{\ttfamily \#include $<$iostream$>$}\newline
{\ttfamily \#include $<$string$>$}\newline
{\ttfamily \#include $<$vector$>$}\newline
\doxysubsection*{Classes}
\begin{DoxyCompactItemize}
\item 
class \mbox{\hyperlink{classVisualization}{Visualization}}
\begin{DoxyCompactList}\small\item\em Class \mbox{\hyperlink{classVisualization}{Visualization}}. \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Functions}
\begin{DoxyCompactItemize}
\item 
int \mbox{\hyperlink{visualization_8cpp_a0ddf1224851353fc92bfbff6f499fa97}{main}} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]})
\begin{DoxyCompactList}\small\item\em Main function. \end{DoxyCompactList}\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
The simulation visualization. 

PARAMETERS\+: frequency (int)\+: control loop frequency odom\+\_\+callback\+\_\+flag (bool)\+: specifies when new odom msg is read slam\+\_\+callback\+\_\+flag (bool)\+: specifies when new slam msg is read

odom\+\_\+path (nav\+\_\+msgs\+::\+Path)\+: the trajectory of the robot according only to wheel odometry slam\+\_\+path (nav\+\_\+msgs\+::\+Path)\+: the trajectory of the robot according to the SLAM algorithm

PUBLISHES\+: odom\+\_\+path\+\_\+pub (nav\+\_\+msgs/\+Odometry)\+: publishes Odometry message on the odom\+\_\+path topic. slam\+\_\+path\+\_\+pub (nav\+\_\+msgs/\+Odometry)\+: publishes Odometry message on the slam\+\_\+path topic.

SUBSCRIBES\+: odom\+\_\+sub (nav\+\_\+msgs/\+Odometry)\+: Subscribes to the odometry readings. slam\+\_\+sub (nav\+\_\+msgs/\+Odometry)\+: Subscribes to the slam readings. 

\doxysubsection{Function Documentation}
\mbox{\Hypertarget{visualization_8cpp_a0ddf1224851353fc92bfbff6f499fa97}\label{visualization_8cpp_a0ddf1224851353fc92bfbff6f499fa97}} 
\index{visualization.cpp@{visualization.cpp}!main@{main}}
\index{main@{main}!visualization.cpp@{visualization.cpp}}
\doxysubsubsection{\texorpdfstring{main()}{main()}}
{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}



Main function. 


\begin{DoxyParams}{Parameters}
{\em argc} & -\/ input int argument \\
\hline
{\em argv} & -\/ input array argument \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
int 
\end{DoxyReturn}
