logging.h

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#ifndef LOGGING_H
#define LOGGING_H

#define PCL_NO_PRECOMPILE

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

#include <pcl/io/io_exception.h>
#include <pcl/io/pcd_io.h>
#include <pcl_ros/point_cloud.h>

#include "toposens_msgs/TsPoint.h"
#include "toposens_pointcloud/mapping.h"
#include "toposens_pointcloud/ts_pointcloud_ros.h"

namespace toposens_pointcloud
{
class Logging
{
public:
  Logging(ros::NodeHandle nh, ros::NodeHandle private_nh);

  ~Logging();

  void save(const ros::TimerEvent &event);

  static void logPointcloud()
  {
    ros::NodeHandle nh;
    ros::NodeHandle private_nh("~");

    Logging l(nh, private_nh);

    while (true)
    {
      try
      {
        boost::this_thread::sleep(boost::posix_time::milliseconds(10));
      }
      catch (boost::thread_interrupted &)
      {
        return;
      }
    }
  }

private:
  void _accumulate(const XYZINCloud::ConstPtr &msg);

  XYZINCloud::Ptr store_; 
  std::string pcd_path_;  
  ros::Subscriber cloud_sub_; 
  ros::Timer timer_;          
  boost::mutex store_mutex_; 
};

}  // namespace toposens_pointcloud

#endif