average_point_cloud_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _average_point_cloud_alg_node_h_
#define _average_point_cloud_alg_node_h_

#include <boost/circular_buffer.hpp>

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "average_point_cloud_alg.h"

//#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>

// [publisher subscriber headers]
#include <sensor_msgs/PointCloud2.h>

// [service client headers]

// [action server client headers]

typedef union {             
    struct /*anonymous*/    
    {                       
        unsigned char Blue; 
        unsigned char Green;
        unsigned char Red;  
        unsigned char Alpha;
    };                      
    float float_value;      
    long long_value;        
} RGBValue;                 

//TODO: dynamically memory storage to be able to change this from dynamic_reconfigure
//static const int iBuffer = 25;
class AveragePointCloudAlgNode : public algorithm_base::IriBaseAlgorithm<AveragePointCloudAlgorithm>
{
  private:
    // AMb això el que rebem es mapeja a un PCL::PointCloud!! --> + fàcil de manipular
    typedef pcl::PointXYZRGB Point;
    typedef pcl::PointCloud<Point> PointCloud;
    //boost::circular_buffer<PointCloud, Eigen::aligned_allocator<PointCloud> > cloudBuffer_;
    boost::circular_buffer<sensor_msgs::PointCloud2, Eigen::aligned_allocator<sensor_msgs::PointCloud2> > cloudBuffer_;

    bool init_; // wait for the fisrt iBuffer images before start publishing
    int iBuffer_; // number of current pcls on the buffer
    int iCurrent_; // iterator in the pointcloud buffer
    
    
    // [publisher attributes]
    ros::Publisher pcl2_pub_;
    //PointCloud pcl2_final_msg_;
    //PointCloud pcl2_current_msg_;
    sensor_msgs::PointCloud2 pcl2_final_msg_;
    sensor_msgs::PointCloud2 pcl2_current_msg_;

    // [subscriber attributes]
    ros::Subscriber pcl2_sub_;
    CMutex input_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    void input_callback(const sensor_msgs::PointCloud2ConstPtr& msg);

  public:
    AveragePointCloudAlgNode(void);

    ~AveragePointCloudAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif