costmap_to_lines_convex_hull.h

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 * Author: Christoph Rösmann, Otniel Rinaldo
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#ifndef COSTMAP_TO_LINES_CONVEX_HULL_H_
#define COSTMAP_TO_LINES_CONVEX_HULL_H_

#include <costmap_converter/costmap_converter_interface.h>
#include <costmap_converter/costmap_to_polygons.h>

// dynamic reconfigure
#include <costmap_converter/CostmapToLinesDBSMCCHConfig.h>

namespace costmap_converter
{
  
  class CostmapToLinesDBSMCCH : public CostmapToPolygonsDBSMCCH
  {
  public:
   
    CostmapToLinesDBSMCCH();
       
    virtual ~CostmapToLinesDBSMCCH();
    
    virtual void initialize(ros::NodeHandle nh);
    
    virtual void compute();   
    
    
  protected:
    
    void extractPointsAndLines(std::vector<KeyPoint>& cluster, const geometry_msgs::Polygon& polygon, std::back_insert_iterator< std::vector<geometry_msgs::Polygon> > lines);

    
    
  protected:
      
    double support_pts_max_dist_inbetween_;
    double support_pts_max_dist_;
    int min_support_pts_;
   
  private:
    
    void reconfigureCB(CostmapToLinesDBSMCCHConfig& config, uint32_t level);
    
    dynamic_reconfigure::Server<CostmapToLinesDBSMCCHConfig>* dynamic_recfg_; 
 
  };  
  
  
  
  


  
  
} //end namespace teb_local_planner

#endif /* COSTMAP_TO_LINES_CONVEX_HULL_H_ */