map_manager.h

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#ifndef _MAPMANAGER_H_
#define _MAPMANAGER_H_
 
#include <rclcpp/rclcpp.hpp>
 
#include <chrono>
 
#include "cslam/front_end/stereo_handler.h"
#include "cslam/front_end/rgbd_handler.h"
 
namespace cslam {
 
class IMapManager {
  public:
    virtual ~IMapManager() {};
};
 
template <class DataHandlerType> class MapManager: public IMapManager {
public:
  MapManager(std::shared_ptr<rclcpp::Node> &node);
  ~MapManager(){};
 
  void process_new_sensor_data();
 
private:
  std::shared_ptr<rclcpp::Node> node_;
 
  unsigned int max_nb_robots_, robot_id_;
 
  int map_manager_process_period_ms_;
 
  DataHandlerType local_data_handler_;
 
  rclcpp::TimerBase::SharedPtr process_timer_;
};
 
// List possible data types for C++ linker
template class MapManager<StereoHandler>;
template class MapManager<RGBDHandler>;
} // namespace cslam
#endif