polygon_points_sampler.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_UTILS_POLYGON_POINTS_SAMPLER_H_
00038 #define JSK_PCL_ROS_UTILS_POLYGON_POINTS_SAMPLER_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include "jsk_recognition_utils/geo_util.h"
00042 
00043 #include <jsk_pcl_ros_utils/PolygonPointsSamplerConfig.h>
00044 #include <dynamic_reconfigure/server.h>
00045 
00046 #include <message_filters/subscriber.h>
00047 #include <message_filters/time_synchronizer.h>
00048 #include <message_filters/synchronizer.h>
00049 
00050 #include <jsk_recognition_msgs/PolygonArray.h>
00051 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00052 namespace jsk_pcl_ros_utils
00053 {
00054   class PolygonPointsSampler: public jsk_topic_tools::DiagnosticNodelet
00055   {
00056   public:
00057     typedef boost::shared_ptr<PolygonPointsSampler> Ptr;
00058     typedef PolygonPointsSamplerConfig Config;
00059     
00060     typedef message_filters::sync_policies::ExactTime<
00061       jsk_recognition_msgs::PolygonArray,
00062       jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy;
00063     
00064     PolygonPointsSampler(): DiagnosticNodelet("PolygonPointsSampler") {}
00065   protected:
00066     virtual void onInit();
00067     virtual void subscribe();
00068     virtual void unsubscribe();
00069     virtual void sample(
00070       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00071       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg);
00072     virtual void configCallback(Config& config, uint32_t level);
00073     virtual bool isValidMessage(
00074       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00075       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg);
00076     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00077     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00078     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
00079     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
00080     
00081     boost::mutex mutex_;
00082     ros::Publisher pub_;
00083     ros::Publisher pub_xyz_;
00084     double grid_size_;
00085     
00086   private:
00087     
00088   };
00089 }
00090 
00091 #endif


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