polygon_appender.h

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// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_UTILS_POLYGON_APPENDER_H_
#define JSK_PCL_ROS_UTILS_POLYGON_APPENDER_H_

#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <pcl_ros/pcl_nodelet.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros_utils
{
  class PolygonAppender: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray,
    jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> SyncPolicy2;
    
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void appendAndPublish(
      const std::vector<jsk_recognition_msgs::PolygonArray::ConstPtr>& arrays,
      const std::vector<jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr>& coefficients_array);
    virtual void callback2(const jsk_recognition_msgs::PolygonArray::ConstPtr& msg0,
                           const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients0,
                           const jsk_recognition_msgs::PolygonArray::ConstPtr& msg1,
                           const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients1);
    
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon0_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon1_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients0_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients1_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy2> >sync_;
    ros::Publisher pub_polygon_, pub_coefficients_;
  private:
  };
}

#endif