convex_hull.h
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00001 /*
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00034  * $Id: convex_hull.h 36116 2011-02-22 00:05:23Z rusu $
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00037 
00038 #ifndef PCL_ROS_CONVEX_HULL_2D_H_
00039 #define PCL_ROS_CONVEX_HULL_2D_H_
00040 
00041 #include "pcl_ros/pcl_nodelet.h"
00042 
00043 // PCL includes
00044 #include <pcl/surface/convex_hull.h>
00045 
00046 // Dynamic reconfigure
00047 #include <dynamic_reconfigure/server.h>
00048 
00049 namespace pcl_ros
00050 {
00051   namespace sync_policies = message_filters::sync_policies;
00052 
00056   class ConvexHull2D : public PCLNodelet
00057   {
00058     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
00059     typedef PointCloud::Ptr PointCloudPtr;
00060     typedef PointCloud::ConstPtr PointCloudConstPtr;
00061 
00062     private:
00064       virtual void onInit ();
00065 
00070       void input_indices_callback (const PointCloudConstPtr &cloud, 
00071                                    const PointIndicesConstPtr &indices);
00072 
00073     private:
00075       pcl::ConvexHull<pcl::PointXYZ> impl_;
00076 
00078       ros::Subscriber sub_input_;
00079 
00081       ros::Publisher pub_plane_;
00082 
00084       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > >       sync_input_indices_e_;
00085       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;
00086 
00087   public:
00088       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00089   };
00090 }
00091 
00092 #endif  //#ifndef PCL_ROS_CONVEX_HULL_2D_H_
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41