convex_hull.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  * $Id: convex_hull.h 36116 2011-02-22 00:05:23Z rusu $
00035  *
00036  */
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_
00093 


pcl_ros
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:22:22