box_filter.h

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 *  box_filter.h
 *
 *  author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
 */
 
 
 
#ifndef BOXFILTER_H
#define BOXFILTER_H
 
#include <filters/filter_base.hpp>
 
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <laser_geometry/laser_geometry.h>
 
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
 
#include <dynamic_reconfigure/server.h>
#include <laser_filters/BoxFilterConfig.h>
 
 
namespace laser_filters
{
class LaserScanBoxFilter : public filters::FilterBase<sensor_msgs::LaserScan>
{
  public:
    LaserScanBoxFilter();
    bool configure();
 
    bool update(
      const sensor_msgs::LaserScan& input_scan,
      sensor_msgs::LaserScan& filtered_scan);
 
  protected:
    bool inBox(tf::Point &point);
    std::string box_frame_;
    laser_geometry::LaserProjection projector_;
    
    // tf listener to transform scans into the box_frame
    tf::TransformListener tf_; 
    
    // defines two opposite corners of the box
    tf::Point min_, max_; 
    bool invert_filter;
    bool up_and_running_;
 
    std::shared_ptr<dynamic_reconfigure::Server<BoxFilterConfig>> dyn_server_;
    void reconfigureCB(BoxFilterConfig& config, uint32_t level);
    boost::recursive_mutex own_mutex_;
    BoxFilterConfig config_ = BoxFilterConfig::__getDefault__();
};
 
}
 
 
#endif /* box_filter.h */