text: #ifndef VIZ_MAG_H
  #define VIZ_MAG_H
  
  #include <ros/ros.h>
  #include <tf/tf.h>
  #include <math.h>
  #include <sensor_msgs/MagneticField.h>
  #include <geometry_msgs/PoseStamped.h>
  #include <geometry_msgs/Point.h>
  #include <visualization_msgs/Marker.h>
  
  namespace rosflight_utils
  {
  
  
  class VizMag
  {
  
  public:
  
    VizMag();
  
  private:
  
    // Node handles, publishers, subscribers
    ros::NodeHandle nh_;
    ros::NodeHandle nh_private_;
  
    // Publishers and Subscribers
    ros::Subscriber mag_sub_;
    ros::Publisher mag_pub_;
    ros::Publisher pts_pub_;
  
    // Variables
    tf::Quaternion q_att_;
    std::vector<geometry_msgs::Point> pts_list_;
    double mag_sum_;
    int mag_count_, mag_throttle_, mag_skip_;
  
    // Functions
    void magCallback(const sensor_msgs::MagneticFieldConstPtr &msg);
  };
  
  } // namespace visual_naze
  
  #endif
  
  