grid_sampler.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #ifndef JSK_PCL_ROS_GRID_SAMPLER_H_
00037 #define JSK_PCL_ROS_GRID_SAMPLER_H_
00038 
00039 #include <pcl_ros/pcl_nodelet.h>
00040 #include <dynamic_reconfigure/server.h>
00041 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 
00044 #include <jsk_pcl_ros/GridSamplerConfig.h>
00045 #include <jsk_topic_tools/connection_based_nodelet.h>
00046 
00047 namespace jsk_pcl_ros
00048 {
00049   class GridSampler: public jsk_topic_tools::ConnectionBasedNodelet
00050   {
00051   public:
00052     typedef jsk_pcl_ros::GridSamplerConfig Config;
00053   protected:
00054     virtual void onInit();
00055     virtual void sample(const sensor_msgs::PointCloud2::ConstPtr& msg);
00056     virtual void configCallback(Config &config, uint32_t level);
00057     virtual void subscribe();
00058     virtual void unsubscribe();
00059     boost::mutex mutex_;
00060     double grid_size_;
00061     int min_indices_;
00062     ros::Subscriber sub_;
00063     ros::Publisher pub_;
00064     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00065   private:
00066     
00067   }; 
00068 }
00069 
00070 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43