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#ifndef _MAP_PUBLISHER_H_
#define _MAP_PUBLISHER_H_

#include <pcl_ros/transforms.h>

#include <visualization_msgs/Marker.h>
#include <sensor_msgs/PointCloud2.h>

#include <mrs_laser_maps/map_multiresolution.h>
#include <mrs_laser_mapping/MultiResolutionMap.h>
#include <mrs_laser_mapping/color_utils.h>


namespace mrs_laser_mapping
{
class MapPublisher
{
public:
  MapPublisher();

  ~MapPublisher();

  static MapPublisher* getInstance();

  template <typename PointType, typename MapType>
  void publishOccupiedCells(const boost::shared_ptr<MapType>& map);

  template <typename PointType, typename MapType>
  void publishCellsWithOccupancy(const boost::shared_ptr<MapType>& map);

  template <typename PointType, typename MapType>
  void publishMap(const boost::shared_ptr<MapType>& map);

  template <typename PointType, typename MapType>
  void publishMapLevelColor(const boost::shared_ptr<MapType>& map);
  
  template <typename PointType, typename MapType>
  void publishMapScanColor(const boost::shared_ptr<MapType>& map);

private:
  static MapPublisher* instance_;

  ros::NodeHandle node_handle_;
  ros::Publisher pub_marker_;
  ros::Publisher pub_map_msg_;
  ros::Publisher pub_cloud_level_color_;
  ros::Publisher pub_cloud_scan_color_;
};
}

#include <mrs_laser_mapping/impl/map_publisher.hpp>

#endif
