cloud_handler.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * 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 Willow Garage, Inc. 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
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// author: Adam Leeper

#ifndef _CLOUD_CONTAINER_H_
#define _CLOUD_CONTAINER_H_

#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <sensor_msgs/PointCloud2.h>

#include <tf/transform_listener.h>

class CloudContainer
{
public:

  CloudContainer( ros::NodeHandle *nh, tf::TransformListener *tfl,
                  std::string name, const std::string &topic);

  ~CloudContainer();

  void clear();

  bool refresh(const std::string &topic, const std::string &frame);

  //sensor_msgs::PointCloud2 get();
  bool get(sensor_msgs::PointCloud2 &cloud, const std::string &frame);

  void set(const sensor_msgs::PointCloud2 &cloud, const std::string &frame);

  void changeFrame(const std::string &frame);

private:

  sensor_msgs::PointCloud2 cloud_;

  std::string name_, topic_;
  ros::NodeHandle *nh_;
  ros::Publisher pub_point_;
  tf::TransformListener *tfl_;
};

#endif