laser_scan_densifier.h
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00001 /*
00002  * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *   http://www.apache.org/licenses/LICENSE-2.0
00009 
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 /*
00017  * Copyright (c) 2011, Ivan Dryanovski
00018  * All rights reserved.
00019  *
00020  * Redistribution and use in source and binary forms, with or without
00021  * modification, are permitted provided that the following conditions are met:
00022  *
00023  *     * Redistributions of source code must retain the above copyright
00024  *       notice, this list of conditions and the following disclaimer.
00025  *     * Redistributions in binary form must reproduce the above copyright
00026  *       notice, this list of conditions and the following disclaimer in the
00027  *       documentation and/or other materials provided with the distribution.
00028  *     * Neither the name of the CCNY Robotics Lab nor the names of its
00029  *       contributors may be used to endorse or promote products derived from
00030  *       this software without specific prior written permission.
00031  *
00032  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00033  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00034  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00035  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00036  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00037  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00038  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00039  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00040  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00041  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00042  * POSSIBILITY OF SUCH DAMAGE.
00043  */
00044 
00045 #ifndef LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_H
00046 #define LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_H
00047 
00048 #include <ros/ros.h>
00049 #include <sensor_msgs/LaserScan.h>
00050 
00051 namespace scan_tools {
00052 
00053 class LaserScanDensifier
00054 {
00055   public:
00056 
00057     LaserScanDensifier(ros::NodeHandle nh, ros::NodeHandle nh_private);
00058     virtual ~LaserScanDensifier();
00059 
00060   private:
00061 
00062     // **** ROS-related
00063     ros::NodeHandle nh_;
00064     ros::NodeHandle nh_private_;
00065     ros::Subscriber scan_subscriber_;
00066     ros::Publisher  scan_publisher_;
00067 
00068     // **** paramaters
00069 
00070     int step_;
00071     int mode_;
00072 
00073     // **** member functions
00074 
00075     void scanCallback(const sensor_msgs::LaserScanConstPtr& scan_msg);
00076 };
00077 
00078 } //namespace scan_tools
00079 
00080 #endif // LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_H


laser_scan_densifier
Author(s): Felix Messmer
autogenerated on Sat Jun 8 2019 21:02:37