1 #ifndef ABSTRACT_MAP_LOADER_
2 #define ABSTRACT_MAP_LOADER_
5 #include <xmlrpcpp/XmlRpc.h>
6 #include <tf2/LinearMath/Transform.h>
8 #include "octomap/octomap.h"
9 #include <pcl/point_cloud.h>
10 #include <pcl/octree/octree.h>
13 #include <ros/package.h>
14 #include <yaml-cpp/yaml.h>
27 std::vector<tf2::Transform>
map_;
29 std::vector<std::vector<std::vector<tf2::Quaternion>>>
target_rot_;
30 std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>
target_cloud_;
42 inline std::vector<tf2::Transform>&
map() {
return map_;}
44 inline void set_map(std::vector<tf2::Transform>& list) {
map_ = list;}