00001 00012 #ifndef SPATIAL_TEMPORAL_LEARNING_ITEM_OBSERVER_H_ 00013 #define SPATIAL_TEMPORAL_LEARNING_ITEM_OBSERVER_H_ 00014 00015 // worldlib 00016 #include "worldlib/remote/Node.h" 00017 00018 // ROS 00019 #include <rail_manipulation_msgs/SegmentedObjectList.h> 00020 00021 namespace rail 00022 { 00023 namespace spatial_temporal_learning 00024 { 00025 00033 class ItemObserver : public worldlib::remote::Node 00034 { 00035 public: 00041 ItemObserver(); 00042 00048 virtual ~ItemObserver(); 00049 00050 private: 00059 void recognizedObjectsCallback(const rail_manipulation_msgs::SegmentedObjectListConstPtr &objects) const; 00060 00062 worldlib::remote::SpatialWorldClient *spatial_world_client_; 00063 00065 ros::Subscriber recognized_objects_sub_; 00066 }; 00067 00068 } 00069 } 00070 00071 #endif