diff_subscriber.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #ifndef POSE_GRAPH_DIFF_SUBSCRIBER_H
00040 #define POSE_GRAPH_DIFF_SUBSCRIBER_H
00041 
00042 #include <pose_graph/PoseGraphDiff.h>
00043 #include <pose_graph/pose_graph.h>
00044 #include <ros/ros.h>
00045 #include <boost/thread.hpp>
00046 #include <boost/optional.hpp>
00047 
00048 namespace graph_slam
00049 {
00050 
00055 class DiffSubscriber
00056 {
00057 public:
00058 
00059   typedef boost::function<void (boost::optional<const pose_graph::PoseGraphDiff&>, const pose_graph::PoseGraph&)> DiffCallback;
00060 
00062   DiffSubscriber (const ros::NodeHandle& nh, const DiffCallback& diff_cb);
00063 
00065   pose_graph::PoseGraph getCurrentGraph () const;
00066 
00067 private:
00068 
00070   void diffCB (const pose_graph::PoseGraphDiff& diff);
00071 
00072   /****************************************
00073    * Associated objects
00074    ****************************************/
00075   
00076   mutable boost::mutex mutex_;
00077   ros::NodeHandle nh_;
00078   DiffCallback diff_callback_;
00079   ros::Subscriber diff_sub_;
00080   ros::ServiceClient graph_client_;
00081 
00082   /****************************************
00083    * State
00084    ****************************************/
00085   
00086   pose_graph::PoseGraph graph_;
00087   unsigned last_id_;
00088 };
00089 
00090 } // namespace
00091 
00092 #endif // include guard


graph_slam
Author(s): Bhaskara Marthi
autogenerated on Tue Jan 7 2014 11:17:21