hole_detection_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _hole_detection_alg_h_
#define _hole_detection_alg_h_

#include <iri_hole_detection/HoleDetectionConfig.h>
#include "mutex.h"

#include <pcl_ros/point_cloud.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_types.h>
#include <pcl/impl/point_types.hpp>


using namespace pcl;
using namespace std;
//include hole_detection_alg main library

class HoleDetectionAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    int hole_min_p; 
    float box_y_end,box_z_ini,box_x,box_y_ini,box_z_end,Xl,Xc,Xr,Y;
    pcl::PointCloud<pcl::PointXYZRGB> cloud_in;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_for;   
  public:
    typedef iri_hole_detection::HoleDetectionConfig Config;

    Config config_;

    HoleDetectionAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all hole_detection_alg interface methods to retrieve and set
    // the driver parameters

    ~HoleDetectionAlgorithm(void);
    
     void cloud_all(int hole_min_p, float box_y_end, float box_z_ini, 
                    float box_x, float box_y_ini, float box_z_end, 
                    float Xl, float Xc, float Xr, float Y, 
                    pcl::PointCloud<pcl::PointXYZRGB>& cloud_in, 
                    pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud_out);    
       
};

#endif