polygon_point_cloud_filter.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef CART_STATE_ESTIMATOR_POLYGON_POINT_CLOUD_FILTER_H
#define CART_STATE_ESTIMATOR_POLYGON_POINT_CLOUD_FILTER_H

#include <filters/filter_base.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/PointCloud.h>
#include <ros/ros.h>

namespace cart_state_estimator
{

class PolygonPointCloudFilter : public filters::FilterBase<sensor_msgs::PointCloud>
{
public:
  
  PolygonPointCloudFilter () {}
  bool configure();
  bool update (const sensor_msgs::PointCloud& input_scan, sensor_msgs::PointCloud& filtered_scan);
  bool inPolygon (const geometry_msgs::Point32& p) const;
  
private:

  tf::TransformListener tf_;
  ros::NodeHandle nh_;
  ros::Publisher filter_polygon_pub_;
  std::vector<geometry_msgs::Point32> poly_;
  std::string frame_;

};
    

} // namespace

#endif // include guard