/*
 * FiltersDemo.hpp
 *
 *  Created on: Aug 16, 2017
 *      Author: Peter Fankhauser
 *	 Institute: ETH Zurich, Robotic Systems Lab
 *
 */

#pragma once

#include <grid_map_ros/grid_map_ros.hpp>

#include <filters/filter_chain.h>
#include <ros/ros.h>
#include <string>

namespace grid_map_demos {

/*!
 * Applies a chain of grid map filters to a topic and
 * republishes the resulting grid map.
 */
class FiltersDemo
{
 public:

  /*!
   * Constructor.
   * @param nodeHandle the ROS node handle.
   * @param success signalizes if filter is configured ok or not.
   */
  FiltersDemo(ros::NodeHandle& nodeHandle, bool& success);

  /*!
   * Destructor.
   */
  virtual ~FiltersDemo();

  /*!
  * Reads and verifies the ROS parameters.
  * @return true if successful.
  */
  bool readParameters();

  /*!
   * Callback method for the incoming grid map message.
   * @param message the incoming message.
   */
  void callback(const grid_map_msgs::GridMap& message);

 private:

  //! ROS nodehandle.
  ros::NodeHandle& nodeHandle_;

  //! Name of the input grid map topic.
  std::string inputTopic_;

  //! Name of the output grid map topic.
  std::string outputTopic_;

  //! Grid map subscriber
  ros::Subscriber subscriber_;

  //! Grid map publisher.
  ros::Publisher publisher_;

  //! Filter chain.
  filters::FilterChain<grid_map::GridMap> filterChain_;

  //! Filter chain parameters name.
  std::string filterChainParametersName_;
};

} /* namespace */
