polygon_array_wrapper.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_UTILS_POLYGON_ARRAY_WRAPPER_H_
00038 #define JSK_PCL_ROS_UTILS_POLYGON_ARRAY_WRAPPER_H_
00039 
00040 #include <message_filters/subscriber.h>
00041 #include <message_filters/time_synchronizer.h>
00042 #include <message_filters/synchronizer.h>
00043 
00044 #include <geometry_msgs/PolygonStamped.h>
00045 #include <jsk_recognition_msgs/PolygonArray.h>
00046 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00047 #include <jsk_topic_tools/connection_based_nodelet.h>
00048 
00049 namespace jsk_pcl_ros_utils
00050 {
00051   class PolygonArrayWrapper: public jsk_topic_tools::ConnectionBasedNodelet
00052   {
00053   public:
00054     typedef message_filters::sync_policies::ExactTime<
00055       geometry_msgs::PolygonStamped, pcl_msgs::ModelCoefficients> SyncPolicy;
00056 
00057   protected:
00058     virtual void onInit();
00059     virtual void subscribe();
00060     virtual void unsubscribe();
00061     virtual void wrap(const geometry_msgs::PolygonStamped::ConstPtr& polygon,
00062                       const pcl_msgs::ModelCoefficients::ConstPtr& coefficients);
00063     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00064     message_filters::Subscriber<geometry_msgs::PolygonStamped> sub_polygon_;
00065     message_filters::Subscriber<pcl_msgs::ModelCoefficients> sub_coefficients_;
00066     ros::Publisher pub_polygon_array_;
00067     ros::Publisher pub_coefficients_array_;
00068   private:
00069     
00070   };
00071 }
00072 
00073 #endif


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