ndescs2disk.h

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#ifndef _ndescs2disk_h_
#define _ndescs2disk_h_

#include "ros/this_node.h"
#include "ros/names.h"
#include "ros/node_handle.h"
#include "ros/rate.h"

//#include "mutex.h"

#include "normal_descriptor_alg.h"
#include <normal_descriptor_node/ndesc_pc.h>
#include <normal_descriptor_node/ndesc.h>
#include <string>

class Ndescs2Disk
{
private:
  //CMutex execution_mutex;
  std::string prefix_out_;
  ros::NodeHandle node_handle_;
  int counter_;
  bool keep_nan_points_;
  //int max_frames_;
  void write_point(FILE *pf, const normal_descriptor_node::ndesc &point);

  // [publisher attributes]
  // [subscriber attributes]                               
  ros::Subscriber points_subscriber_;
  void points_callback(const normal_descriptor_node::ndesc_pc::ConstPtr& ndesc_pc_msg);
  // [service attributes]
  // [client attributes]
  // [action server attributes]
  // [action client attributes]
public:
  Ndescs2Disk(char *pref_out);//, int max_frames);
};
#endif