polygon_array_unwrapper.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_UTILS_POLYGON_ARRAY_UNWRAPPER_H_
00038 #define JSK_PCL_ROS_UTILS_POLYGON_ARRAY_UNWRAPPER_H_
00039 
00040 #include <message_filters/subscriber.h>
00041 #include <message_filters/time_synchronizer.h>
00042 #include <message_filters/synchronizer.h>
00043 
00044 #include <dynamic_reconfigure/server.h>
00045 #include <geometry_msgs/PolygonStamped.h>
00046 #include <jsk_pcl_ros_utils/PolygonArrayUnwrapperConfig.h>
00047 #include <jsk_recognition_msgs/PolygonArray.h>
00048 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00049 #include <jsk_topic_tools/connection_based_nodelet.h>
00050 
00051 
00052 namespace jsk_pcl_ros_utils
00053 {
00054   class PolygonArrayUnwrapper: public jsk_topic_tools::ConnectionBasedNodelet
00055   {
00056   public:
00057     typedef PolygonArrayUnwrapperConfig Config;
00058     typedef message_filters::sync_policies::ExactTime<
00059     jsk_recognition_msgs::PolygonArray,
00060     jsk_recognition_msgs::ModelCoefficientsArray>
00061     SyncPolicy;
00062 
00063   protected:
00064     virtual void onInit();
00065     virtual void subscribe();
00066     virtual void unsubscribe();
00067     virtual void configCallback(Config &config, uint32_t level);
00068     virtual void unwrap(
00069       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon,
00070       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients);
00071     boost::mutex mutex_;
00072     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00073     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00074     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_;
00075     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
00076     ros::Publisher pub_polygon_;
00077     ros::Publisher pub_coefficients_;
00078     bool use_likelihood_;
00079     size_t plane_index_;
00080   private:
00081     
00082   };
00083 }
00084 
00085 #endif


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:40:52