nearfield_map_degrading_native_node.h

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/******************************************************************************
*                                                                             *
* nearfield_map_degrading_native_node.h                                       *
* =====================================                                       *
*                                                                             *
*******************************************************************************
*                                                                             *
* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_nearfield_map                           *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
*******************************************************************************
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* New BSD License                                                             *
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#ifndef __NEARFIELD_MAP_DEGRADING_NATIVE_NODE_H
#define __NEARFIELD_MAP_DEGRADING_NATIVE_NODE_H

// local headers
#include "nearfield_map_base_pa_node.h"

#include "nearfield_map/NearfieldMapGetSize.h"

// ros headers
#include <ros/ros.h>

#include <octomap_pa/octree_stamped_native_ros.h>


//**************************[cNearfieldMapDegradingNativeNode]*****************
class cNearfieldMapDegradingNativeNode : public
  cNearfieldMapBasePaNode<cOctreeStampedNativeRos> {
  public:
    cNearfieldMapDegradingNativeNode();

    ~cNearfieldMapDegradingNativeNode();

  protected:

    void addPcdCameraCallbackSub(
        const sensor_msgs::PointCloud2ConstPtr &msg);
    void addPcdLaserScanCallbackSub(
        const sensor_msgs::PointCloud2ConstPtr &msg);
    void addPcdLaserFullCallbackSub(
        const sensor_msgs::PointCloud2ConstPtr &msg);

    bool getSizeCallbackSrv(
        nearfield_map::NearfieldMapGetSize::Request  &req,
        nearfield_map::NearfieldMapGetSize::Response &res);
};

#endif // __NEARFIELD_MAP_DEGRADING_NATIVE_NODE_H