iri_deformable_analysis.h

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/* vim: set sw=4 sts=4 et foldmethod=syntax : */

#ifndef IRI_DEFORMABLE_ANALYSIS_GUARD_IRI_DEFORMABLE_ANALYSIS_H
#define IRI_DEFORMABLE_ANALYSIS_GUARD_IRI_DEFORMABLE_ANALYSIS_H 1

#include <iridrivers/event.h>
#include <iridrivers/eventexceptions.h>

#include "ros/ros.h"
#include "iri_deformable_analysis/DoDeformableAnalysis.h"
#include <iri_deformable_analysis/ScoreMapMixResults.h>
#include <geometry_msgs/Pose.h>

/*
 * \brief Deformable Analysis service provider
 *
 * This class implement the request to make a deformable analysis for
 * a given PCL.
 *
 */
class IRIDeformableAnalysis
{

    typedef double microseconds;

    private:
        ros::NodeHandle nh_;
        /* 
         * make deformable service handler
         */
        ros::ServiceServer  deformable_service_;
        /*
         * publish the PCL recieved so rest of nodes start to make
         * the job on PCL.
         */
        ros::Publisher      deformable_pcl_publisher_;
        /*
         * subscriber to recieve the best results corresponding to the 
         * PCL published.
         */
        ros::Subscriber     score_results_subscriber_;
        static const microseconds timeout_for_score_results_;

        /*
         * control when the results are recieved so we can free the
         * lock on dermable service callback
         */
        CEvent  score_results_recieved_event_;
        iri_deformable_analysis::ScoreMapMixResults last_score_results_;

        bool
        deformable_analysis_callback(iri_deformable_analysis::DoDeformableAnalysis::Request & req,
                                     iri_deformable_analysis::DoDeformableAnalysis::Response & res);
        void
        score_results_callback(const iri_deformable_analysis::ScoreMapMixResults::ConstPtr & msg);

    public:
        IRIDeformableAnalysis();
};


#endif