icr_server_node.cpp

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#include <ros/ros.h>
#include "../include/icr_server.h"


  //           MAIN              //


  //---------------------------------------------------------------------
  int main(int argc, char **argv)
  {
    ros::init(argc, argv, "icr_server");

    ICR::IcrServer icr_server;
    ROS_INFO("ICR server ready");
    while(ros::ok()) 
      {
        switch (icr_server.getComputationMode()) 
          {
          case MODE_CONTINUOUS : 
            icr_server.computeSearchZones();
            icr_server.computeIcr();
            icr_server.publish();
            break;

          case MODE_STEP_WISE : 
            icr_server.publish();
            break;

          default : 
            ROS_ERROR("%d is an invalid computation mode - ICR computation not possible",icr_server.getComputationMode());
          }

        ros::spinOnce();
      }

    return 0;
  }
  //---------------------------------------------------------------------