diff_publisher.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef POSE_GRAPH_DIFF_PUBLISHER_H
#define POSE_GRAPH_DIFF_PUBLISHER_H

#include <pose_graph/pose_graph.h>
#include <pose_graph/GetGraph.h>
#include <pose_graph/PoseGraphDiff.h>
#include <ros/ros.h>
#include <boost/thread.hpp>

namespace graph_slam
{

class DiffPublisher
{
public:

  DiffPublisher (const ros::NodeHandle& nh);

  void addDiff (pose_graph::PoseGraphDiff* diff);

  bool getGraph (pose_graph::GetGraph::Request& req, pose_graph::GetGraph::Response& resp);

  void setGraph (const pose_graph::PoseGraph& graph);

private:

  /****************************************
   * Associated objects
   ****************************************/

  mutable boost::mutex mutex_;
  ros::NodeHandle nh_;
  ros::Publisher diff_pub_;
  ros::ServiceServer graph_srv_;

  /****************************************
   * State
   ****************************************/

  pose_graph::PoseGraph graph_;
  unsigned current_id_;
  

};

} // namespace

#endif // include guard