sbpl_subscriber.h

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/*
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#ifndef CART_LOCAL_PLANNER_SBPL_SUBSCRIBER_H
#define CART_LOCAL_PLANNER_SBPL_SUBSCRIBER_H

#include <geometry_msgs/PoseStamped.h>
#include <ros/ros.h>
#include <boost/optional.hpp>
#include <boost/thread.hpp>
#include <boost/circular_buffer.hpp>

namespace cart_local_planner
{

template <class SBPLPlan>
class SBPLSubscriber
{
public:
  typedef std::vector<geometry_msgs::PoseStamped> MBPlan;
  
  SBPLSubscriber (const ros::NodeHandle& nh, const std::string& topic, const double timeout=0.01,
                  const unsigned buffer_size=10) :
    nh_(nh), sub_(nh_.subscribe(topic, buffer_size, &SBPLSubscriber<SBPLPlan>::planCB, this)), 
    plan_buffer_(buffer_size), timeout_(timeout)
  {
  }

  boost::optional<SBPLPlan>  lookupPlan (const MBPlan& mb_plan) const
  {
    const double num_waits = 10.0;
    ros::Rate r(num_waits/timeout_);
    boost::optional<SBPLPlan> plan;
    for (unsigned i=0; i<num_waits; i++) {
      r.sleep();
      boost::mutex::scoped_lock l(mutex_);
      typename boost::circular_buffer<SBPLPlan>::const_reverse_iterator iter =
        find(plan_buffer_.rbegin(), plan_buffer_.rend(), mb_plan);
      if (iter!=plan_buffer_.rend()) {
        plan = *iter;
        return plan;
      }
    }
    // No matching plan found, so return an uninitialized value
    return plan;
  }

private:

  mutable boost::mutex mutex_;
  ros::NodeHandle nh_;
  ros::Subscriber sub_;
  boost::circular_buffer<SBPLPlan> plan_buffer_;
  const double timeout_;

  void planCB (const SBPLPlan& sbpl_plan)
  {
    boost::mutex::scoped_lock l(mutex_);
    plan_buffer_.push_back(sbpl_plan);
  }

};

} // namespace

#endif // include guard