00001 /* 00002 * GenericKiller.hpp 00003 * 00004 * Created on: Aug 13, 2012 00005 * Author: tnestmeyer 00006 */ 00007 00008 #ifndef GENERICKILLER_HPP_ 00009 #define GENERICKILLER_HPP_ 00010 00011 #include <telekyb_defines/telekyb_defines.hpp> 00012 00013 #include "GenericKillerOptions.hpp" 00014 00015 #include <telekyb_base/Time.hpp> 00016 00017 #include <topic_tools/shape_shifter.h> 00018 00019 using namespace topic_tools; 00020 00021 namespace TELEKYB_NAMESPACE { 00022 00023 class GenericKiller { 00024 private: 00025 GenericKillerOptions options; 00026 00027 ros::NodeHandle n; 00028 ros::Subscriber sub; 00029 00030 void callback(const boost::shared_ptr<ShapeShifter const>& msg); 00031 00032 Timer msgTimer; 00033 00034 public: 00035 GenericKiller(); 00036 virtual ~GenericKiller(); 00037 00038 void run(); 00039 }; 00040 00041 } /* namespace telekyb */ 00042 #endif /* GENERICKILLER_HPP_ */
