Program Listing for File cl_opencv_perception_client.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <smacc2/client_bases/smacc_subscriber_client.hpp>
#include <std_msgs/msg/int32.hpp>
namespace sm_husky_barrel_search_1
{
namespace cl_opencv_perception
{
struct EvDetectedBarrelColor : sc::event<EvDetectedBarrelColor>
{
};
class ClOpenCVPerception : public smacc2::client_bases::SmaccSubscriberClient<std_msgs::msg::Int32>
{
public:
ClOpenCVPerception(std::string topicname = "/detected_color")
: smacc2::client_bases::SmaccSubscriberClient<std_msgs::msg::Int32>(topicname)
{
}
virtual ~ClOpenCVPerception() {}
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
smacc2::client_bases::SmaccSubscriberClient<std_msgs::msg::Int32>::onOrthogonalAllocation<
TOrthogonal, TSourceObject>();
}
};
} // namespace cl_opencv_perception
} // namespace sm_husky_barrel_search_1