00001 /* 00002 * Alpha-Beta Filter 00003 * Copyright (C) 2011, CCNY Robotics Lab 00004 * Ivan Dryanovski <ivan.dryanovski@gmail.com> 00005 * 00006 * http://robotics.ccny.cuny.edu 00007 * 00008 * This program is free software: you can redistribute it and/or modify 00009 * it under the terms of the GNU General Public License as published by 00010 * the Free Software Foundation, either version 3 of the License, or 00011 * (at your option) any later version. 00012 * 00013 * This program is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 * GNU General Public License for more details. 00017 * 00018 * You should have received a copy of the GNU General Public License 00019 * along with this program. If not, see <http://www.gnu.org/licenses/>. 00020 */ 00021 00022 #include "ab_filter/ab_filter_pose_nodelet.h" 00023 00024 typedef mav::ABFilterPoseNodelet ABFilterPoseNodelet; 00025 00026 PLUGINLIB_DECLARE_CLASS (ab_filter, ABFilterPoseNodelet, 00027 ABFilterPoseNodelet, nodelet::Nodelet); 00028 00029 void mav::ABFilterPoseNodelet::onInit () 00030 { 00031 NODELET_INFO("Initializing ABFilterPose Nodelet"); 00032 00033 // TODO: Do we want the single threaded or multithreaded NH? 00034 ros::NodeHandle nh = getMTNodeHandle(); 00035 ros::NodeHandle nh_private = getMTPrivateNodeHandle(); 00036 00037 ab_filter_ = new mav::ABFilterPose(nh, nh_private); 00038 }