diff_subscriber.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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#ifndef POSE_GRAPH_DIFF_SUBSCRIBER_H
#define POSE_GRAPH_DIFF_SUBSCRIBER_H

#include <pose_graph/PoseGraphDiff.h>
#include <pose_graph/pose_graph.h>
#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/optional.hpp>

namespace graph_slam
{

class DiffSubscriber
{
public:

  typedef boost::function<void (boost::optional<const pose_graph::PoseGraphDiff&>, const pose_graph::PoseGraph&)> DiffCallback;

  DiffSubscriber (const ros::NodeHandle& nh, const DiffCallback& diff_cb);

  pose_graph::PoseGraph getCurrentGraph () const;

private:

  void diffCB (const pose_graph::PoseGraphDiff& diff);

  /****************************************
   * Associated objects
   ****************************************/
  
  mutable boost::mutex mutex_;
  ros::NodeHandle nh_;
  DiffCallback diff_callback_;
  ros::Subscriber diff_sub_;
  ros::ServiceClient graph_client_;

  /****************************************
   * State
   ****************************************/
  
  pose_graph::PoseGraph graph_;
  unsigned last_id_;
};

} // namespace

#endif // include guard