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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: extract_indices.cpp 35876 2011-02-09 01:04:36Z rusu $ 00035 * 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