hz_measure_nodelet.h

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// -*- mode: c++ -*->
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#ifndef JSK_TOPIC_TOOLS_HZ_MEASURE_NODELET_H_
#define JSK_TOPIC_TOOLS_HZ_MEASURE_NODELET_H_

#include <nodelet/nodelet.h>
#include <topic_tools/shape_shifter.h>

#include <queue>

namespace jsk_topic_tools
{
  class HzMeasure: public nodelet::Nodelet
  {
  public:
    typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent;
    virtual void onInit();
  protected:
    int average_message_num_;
    std::queue<ros::Time> buffer_;
    ros::Publisher hz_pub_;
    ros::Subscriber sub_;
    ros::NodeHandle pnh_;
    virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
    
  private:
  };
}

#endif