00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _zyonz_obtain_two_clustered_leaves_alg_h_ 00026 #define _zyonz_obtain_two_clustered_leaves_alg_h_ 00027 00028 #include <zyonz_obtain_two_clustered_leaves/ZyonzObtainTwoClusteredLeavesConfig.h> 00029 #include "mutex.h" 00030 #include <pcl_ros/point_cloud.h> 00031 #include <pcl/point_types.h> 00032 00033 //include zyonz_obtain_two_clustered_leaves_alg main library 00034 00040 class ZyonzObtainTwoClusteredLeavesAlgorithm 00041 { 00042 private: 00043 // Output Variables 00044 pcl::PointCloud<pcl::PointXYZRGB> cluster_a_; 00045 pcl::PointCloud<pcl::PointXYZRGB> cluster_b_; 00046 sensor_msgs::Image cluster_a_img_; 00047 sensor_msgs::Image cluster_b_img_; 00048 00049 protected: 00056 CMutex alg_mutex_; 00057 00058 // private attributes and methods 00059 00060 public: 00067 typedef zyonz_obtain_two_clustered_leaves::ZyonzObtainTwoClusteredLeavesConfig Config; 00068 00075 Config config_; 00076 00085 ZyonzObtainTwoClusteredLeavesAlgorithm(void); 00086 00092 void lock(void) { alg_mutex_.enter(); }; 00093 00099 void unlock(void) { alg_mutex_.exit(); }; 00100 00108 bool try_enter(void) { return alg_mutex_.try_enter(); }; 00109 00121 void config_update(Config& new_cfg, uint32_t level=0); 00122 00126 bool extract_clusters(sensor_msgs::PointCloud2::ConstPtr& msg); 00127 00128 // here define all zyonz_obtain_two_clustered_leaves_alg interface methods to retrieve and set 00129 // the driver parameters 00130 00131 pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr get_cluster_a(void); 00132 pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr get_cluster_b(void); 00133 sensor_msgs::Image* get_cluster_a_img(void); 00134 sensor_msgs::Image* get_cluster_b_img(void); 00135 00136 00143 ~ZyonzObtainTwoClusteredLeavesAlgorithm(void); 00144 }; 00145 00146 #endif