pcl_ros: pcl_ros: extract_indices.cpp Source File

00001 /*
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00034  * $Id: extract_indices.cpp 35876 2011-02-09 01:04:36Z rusu $
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00036  */
00037 
00038 #include <pluginlib/class_list_macros.h>
00039 #include "pcl_ros/filters/extract_indices.h"
00040 
00042 bool 
00043 pcl_ros::ExtractIndices::child_init (ros::NodeHandle &nh, bool &has_service)
00044 {
00045   has_service = true;
00046 
00047   srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig> > (nh);
00048   dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>::CallbackType f =  boost::bind (&ExtractIndices::config_callback, this, _1, _2);
00049   srv_->setCallback (f);
00050 
00051   use_indices_ = true;
00052   return (true);
00053 }
00054 
00056 void
00057 pcl_ros::ExtractIndices::config_callback (pcl_ros::ExtractIndicesConfig &config, uint32_t level)
00058 {
00059   boost::mutex::scoped_lock lock (mutex_);
00060 
00061   if (impl_.getNegative () != config.negative)
00062   {
00063     impl_.setNegative (config.negative);
00064     NODELET_DEBUG ("[%s::config_callback] Setting the extraction to: %s.", getName ().c_str (), (config.negative ? "indices" : "everything but the indices"));
00065   }
00066 }
00067 
00068 typedef pcl_ros::ExtractIndices ExtractIndices;
00069 PLUGINLIB_DECLARE_CLASS (pcl, ExtractIndices, ExtractIndices, nodelet::Nodelet);
00070