selected_cluster_publisher.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
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00035 
00036 #ifndef JSK_PCL_ROS_SELECTED_CLUSTER_PUBLISHER_H_
00037 #define JSK_PCL_ROS_SELECTED_CLUSTER_PUBLISHER_H_
00038 
00039 #include <pcl_ros/pcl_nodelet.h>
00040 #include <pcl_ros/point_cloud.h>
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <jsk_recognition_msgs/Int32Stamped.h>
00043 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00044 #include <message_filters/time_synchronizer.h>
00045 #include <message_filters/synchronizer.h>
00046 #include <jsk_topic_tools/connection_based_nodelet.h>
00047 
00048 namespace jsk_pcl_ros
00049 {
00050   class SelectedClusterPublisher: public jsk_topic_tools::ConnectionBasedNodelet
00051   {
00052   public:
00053     typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::Int32Stamped> SyncPolicy;
00054   protected:
00055     ros::Publisher pub_;
00056     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00057     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
00058     message_filters::Subscriber<jsk_recognition_msgs::Int32Stamped> sub_index_;
00059     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00060 
00061     virtual void extract(const sensor_msgs::PointCloud2::ConstPtr& input,
00062                          const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices,
00063                          const jsk_recognition_msgs::Int32Stamped::ConstPtr& index);
00064     virtual void subscribe();
00065     virtual void unsubscribe();
00066   private:
00067     virtual void onInit();
00068     
00069     bool keep_organized_;
00070   };
00071   
00072 }
00073 
00074 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:50