text: #ifndef CSLIBS_MAPPING_MIN_HEIGHT_MAPPER_2D_H
  #define CSLIBS_MAPPING_MIN_HEIGHT_MAPPER_2D_H
  
  #include <mutex>
  #include <atomic>
  #include <condition_variable>
  
  #include <cslibs_mapping/mapper/mapper.hpp>
  #include <cslibs_mapping/maps/min_height_map_2d.hpp>
  
  namespace cslibs_mapping {
  namespace mapper {
  class MinHeightMapper2D : public Mapper
  {
  public:
      virtual const inline map_t::ConstPtr getMap() const override;
  
  protected:
      virtual inline bool setupMap(ros::NodeHandle &nh) override;
      virtual inline bool uses(const data_t::ConstPtr &type) override;
      virtual inline void process(const data_t::ConstPtr &data) override;
      virtual inline bool saveMap() override;
  
  private:
      maps::MinHeightMap2D::Ptr map_;
  };
  }
  }
  
  #endif // CSLIBS_MAPPING_MIN_HEIGHT_MAPPER_2D_H
  