text: #ifndef ALM_CART_VISUALIZATION_H
  #define ALM_CART_VISUALIZATION_H
  
  // Package Path Definition
  #include <Configuration.h>
  
  
  // Import ROS and Rviz visualization
  #include <ros/ros.h>
  #include "visualization_msgs/Marker.h"
  #include "visualization_msgs/MarkerArray.h"
  #include "geometry_msgs/PoseStamped.h"
  #include "geometry_msgs/PoseArray.h"
  #include "geometry_msgs/Pose.h"
  #include <std_msgs/Float64.h>
  
  #include <tf/transform_listener.h>
  #include <tf/transform_broadcaster.h>
  
  #include <avatar_locomanipulation/helpers/yaml_data_saver.hpp>
  #include <avatar_locomanipulation/helpers/param_handler.hpp>
  
  #include <iostream>
  #include <fstream>
  
  #include <string>
  
  #include <math.h>
  #include <std_msgs/Float64.h>
  
  class CartVisualizationNode{
  public:
  	ros::NodeHandle* nh;
  
  	ros::Subscriber s_sub;
  
  	double s_current; // curent s for determining bag position
  
  	double radius; // inner turn radius
  
  	double hand_distance; // linear distance b/w hands/sets of wps
  
  	double rotation_angle; // angle to turn cart
  
  	double linear_length; // Distance to be pushed in straight line
  
  	Eigen::Vector3d fixed_frame_pos;
  
  	double pose_spacing; // spacing b/w each wp
  
  	Eigen::Quaternion<double> q_r_init; // initial orientation for right_wp1 wrt fixed
  
  	Eigen::Quaternion<double> q_l_init; // initial orientation for left_wp1 wrt fixed
  
  	Eigen::Quaternion<double> q_fixed; // orientation of fixed frame wrt world
  
  	int M, N; // Will be used to determine the # wps so that we can correctly 
  			  // get the cart position as a fnc of s
  
  	std::string parameter_file;
  
  	CartVisualizationNode(ros::NodeHandle* n_input, const std::string & parameter_file_input);
  
  	~CartVisualizationNode();
  
  	void s_callback(const std_msgs::Float64ConstPtr & msg);
  
  	void getParameters();
  
  	void fillCartMarkerArray(visualization_msgs::MarkerArray & cart_msg);
  
  	void getVizInformation(tf::Transform & tf_world_fixed, tf::Transform & tf_fixed_cart);
  
  
  };
  
  
  #endif