sector_filter.h

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* BSD 2-Clause License
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* Copyright (c) 2021, Jimmy F. Klarke
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* \author: Jimmy F. Klarke
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#ifndef LASER_SCAN_SECTOR_FILTER_IN_PLACE_H
#define LASER_SCAN_SECTOR_FILTER_IN_PLACE_H
 
#include <dynamic_reconfigure/server.h>
#include <laser_filters/SectorFilterConfig.h>
 
#include <filters/filter_base.hpp>
#include <sensor_msgs/LaserScan.h>
 
namespace laser_filters
{
 
class LaserScanSectorFilter : public filters::FilterBase<sensor_msgs::LaserScan>
{
public:
  LaserScanSectorFilter();
  bool configure();
  bool isClearInside();
  bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& output_scan);
 
  virtual ~LaserScanSectorFilter(){}
 
private:
  std::shared_ptr<dynamic_reconfigure::Server<SectorFilterConfig>> dyn_server_;
  void reconfigureCB(SectorFilterConfig& config, uint32_t level);
  boost::recursive_mutex own_mutex_;
 
  SectorFilterConfig config_ = SectorFilterConfig::__getDefault__();
};
 
} // end namespace laser_filters
 
#endif // LASER_SCAN_SECTOR_FILTER_IN_PLACE_H