statistics.h

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#ifndef MULTISENSE_ROS_STATISTICS_H
#define MULTISENSE_ROS_STATISTICS_H
 
#include <ros/ros.h>
 
#include <multisense_lib/MultiSenseChannel.hh>
 
namespace multisense_ros {
 
class Statistics {
public:
 
    Statistics(crl::multisense::Channel* driver);
    ~Statistics();
 
private:
 
    //
    // CRL sensor API
 
    crl::multisense::Channel* driver_;
 
    //
    // Driver nodes
 
    ros::NodeHandle device_nh_;
 
    //
    // Channel Statistics publisher
 
    ros::Publisher statistics_pub_;
 
    //
    // A timer to query our device statistics at a fixed rate
 
    ros::Timer statistics_timer_;
 
    //
    // The callback used to query the device statistics in the timer routine
 
    void queryStatistics(const ros::TimerEvent& event);
 
 
    //
    // Publish control
 
    int32_t subscribers_;
    void connect();
    void disconnect();
};
 
}
 
#endif