nearfield_map_pa_node.h

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/******************************************************************************
*                                                                             *
* nearfield_map_pa_node.h                                                     *
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* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_nearfield_map                           *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
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#ifndef __NEARFIELD_MAP_PA_NODE_H
#define __NEARFIELD_MAP_PA_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_pa_ros.h>
#include <octomap_pa/addcloud_parameter.h>

//**************************[cNearfieldMapPaNode]******************************
class cNearfieldMapPaNode : public cNearfieldMapBasePaNode<cOctreePaRos> {
  public:
    cNearfieldMapPaNode();

    ~cNearfieldMapPaNode();

  protected:
    cAddCloudParameter params_octomap_camera_;
    cAddCloudParameter params_octomap_laser_scan_;
    cAddCloudParameter params_octomap_laser_full_;

    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_PA_NODE_H