00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _laser_people_area_filter_alg_node_h_ 00026 #define _laser_people_area_filter_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "laser_people_area_filter_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <visualization_msgs/MarkerArray.h> 00033 #include <iri_perception_msgs/detectionArray.h> 00034 00035 // [service client headers] 00036 00037 // [action server client headers] 00038 00039 #include <tf/transform_listener.h> 00040 00045 class LaserPeopleAreaFilterAlgNode : public algorithm_base::IriBaseAlgorithm<LaserPeopleAreaFilterAlgorithm> 00046 { 00047 private: 00048 // [publisher attributes] 00049 ros::Publisher peopleMarkers_publisher_; 00050 visualization_msgs::MarkerArray MarkerArray_msg_; 00051 ros::Publisher peopleFiltered_publisher_; 00052 iri_perception_msgs::detectionArray detectionArray_msg_; 00053 00054 // [subscriber attributes] 00055 ros::Subscriber people_subscriber_; 00056 void people_callback(const iri_perception_msgs::detectionArray::ConstPtr& msg); 00057 CMutex people_mutex_; 00058 00059 // [service attributes] 00060 00061 // [client attributes] 00062 00063 // [action server attributes] 00064 00065 // [action client attributes] 00066 00067 iri_perception_msgs::detectionArray people; 00068 bool peopleReceived; 00069 std::string frame; 00070 00071 tf::TransformListener tf_listener_; 00072 00073 double markerWidth; 00074 double markerHeight; 00075 double markerR; 00076 double markerG; 00077 double markerB; 00078 double markerA; 00079 double xmin; 00080 double xmax; 00081 double ymin; 00082 double ymax; 00083 00084 bool showArea; 00085 00086 bool validateByArea(geometry_msgs::PoseStamped pose); 00087 void getPeopleMarkers(iri_perception_msgs::detectionArray & peopleList, visualization_msgs::MarkerArray & people); 00088 00089 public: 00096 LaserPeopleAreaFilterAlgNode(void); 00097 00104 ~LaserPeopleAreaFilterAlgNode(void); 00105 00106 protected: 00119 void mainNodeThread(void); 00120 00133 void node_config_update(Config &config, uint32_t level); 00134 00141 void addNodeDiagnostics(void); 00142 00143 // [diagnostic functions] 00144 00145 // [test functions] 00146 }; 00147 00148 #endif