#ifndef pfslam_h
#define pfslam_h
    
#include <ros/ros.h>
#include <nav_msgs/OccupancyGrid.h>
#include "PFNav.h"
#include <sensor_msgs/PointCloud.h>
  
class PFSlam:public PFNav{

    public:
  	PFSlam();
  	~PFSlam();
  	
    private:
    //  ROS subscribers and publishers
  	ros::NodeHandle nh_;
  
  	ros::Subscriber map_sub_;
  	
  	ros::Subscriber goal_sub_;
  	
  	ros::Publisher obstacle_pub_;
  	
  	ros::Publisher goal_pub_;
  	
  	void publishObstacles();
  	
  	void publishGoals();
  	
  	void mapCallback(const nav_msgs::OccupancyGrid& occupancyGrid);
  	
  	void goalCallback(const geometry_msgs::Pose& goalPose);
};
#endif