polygon_filter.h

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 *  polygon_filter.h
 */
 
#ifndef POLYGON_FILTER_H
#define POLYGON_FILTER_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 <geometry_msgs/Polygon.h>
#include <geometry_msgs/PolygonStamped.h>
#include <laser_filters/PolygonFilterConfig.h>
#include <dynamic_reconfigure/server.h>
 
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
 
namespace laser_filters
{
class LaserScanPolygonFilterBase : public filters::FilterBase<sensor_msgs::LaserScan> {
public:
  virtual bool configure();
  virtual void configure(PolygonFilterConfig& config) { reconfigureCB(config, 0); }
 
  virtual bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan) { return false; }
 
protected:
  ros::Publisher polygon_pub_;
  boost::recursive_mutex own_mutex_;
  // configuration
  std::string polygon_frame_;
  geometry_msgs::Polygon polygon_;
  double polygon_padding_;
  bool invert_filter_;
  bool is_polygon_published_ = false;
  std::shared_ptr<dynamic_reconfigure::Server<laser_filters::PolygonFilterConfig>> dyn_server_;
 
  virtual void reconfigureCB(laser_filters::PolygonFilterConfig& config, uint32_t level);
 
  // checks if points in polygon
  bool inPolygon(tf::Point& point) const;
 
  void publishPolygon();
};
 
class LaserScanPolygonFilter : public LaserScanPolygonFilterBase {
public:
  bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan) override;
 
private:
  // configuration
  laser_geometry::LaserProjection projector_;
  // tf listener to transform scans into the polygon_frame
  tf::TransformListener tf_;
};
 
class StaticLaserScanPolygonFilter : public LaserScanPolygonFilterBase {
public:
  bool configure() override;
  bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan) override;
  
protected:
  void reconfigureCB(laser_filters::PolygonFilterConfig& config, uint32_t level) override;
 
private:
  double transform_timeout_;
 
  Eigen::ArrayXXd co_sine_map_;
  float co_sine_map_angle_min_;
  float co_sine_map_angle_max_;
  bool is_polygon_transformed_;
 
  void checkCoSineMap(const sensor_msgs::LaserScan& input_scan);
};
}
#endif /* polygon_filter.h */