laser_scan_matcher_nodelet.cpp

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/*
 * Copyright (c) 2011, Ivan Dryanovski, William Morris
 * 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 CCNY Robotics Lab 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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/*  This package uses Canonical Scan Matcher [1], written by 
 *  Andrea Censi
 *
 *  [1] A. Censi, "An ICP variant using a point-to-line metric" 
 *  Proceedings of the IEEE International Conference 
 *  on Robotics and Automation (ICRA), 2008
 */

#include "laser_scan_matcher/laser_scan_matcher_nodelet.h"

typedef scan_tools::LaserScanMatcherNodelet LaserScanMatcherNodelet;

PLUGINLIB_DECLARE_CLASS(laser_scan_matcher, LaserScanMatcherNodelet, 
  LaserScanMatcherNodelet, nodelet::Nodelet);

void LaserScanMatcherNodelet::onInit()
{
  NODELET_INFO("Initializing LaserScanMatcher Nodelet");
  
  // TODO: Do we want the single threaded or multithreaded NH?
  ros::NodeHandle nh         = getMTNodeHandle();
  ros::NodeHandle nh_private = getMTPrivateNodeHandle();

  scan_matcher_ = boost::shared_ptr<LaserScanMatcher>(
    new LaserScanMatcher(nh, nh_private));
}