obstacle_detection_normals_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 _obstacle_detection_normals_alg_h_
#define _obstacle_detection_normals_alg_h_

#include <iri_obstacle_detection_normals/ObstacleDetectionNormalsConfig.h>
#include "mutex.h"


#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/impl/point_types.hpp>

#include <boost/make_shared.hpp>

using namespace pcl;
using namespace std;

typedef KdTree<PointXYZ>::Ptr KdTreePtr;

//include obstacle_detection_normals_alg main library

class ObstacleDetectionNormalsAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    int KSearch;
    float normal_z,normal_y,normal_x,min_dist;

    KdTreePtr tree;
    
    // pcl::PointCloud<pcl::PointXYZ> cloud;
    // pcl::PointCloud<pcl::PointXYZRGBNormal> cloud_out;
    // pcl::PointCloud<pcl::PointXYZRGBNormal> cloud_obs;  


  public:
    typedef iri_obstacle_detection_normals::ObstacleDetectionNormalsConfig Config;

    Config config_;

    ObstacleDetectionNormalsAlgorithm(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 obstacle_detection_normals_alg interface methods to retrieve and set
    // the driver parameters

    ~ObstacleDetectionNormalsAlgorithm(void);
    
    // void cloud_all(int KSearch, float normal_z, 
    //  float normal_y, float normal_x, float min_intens, float min_dist, 
    //  const pcl::PointCloud<pcl::PointXYZ>& cloud, 
    //  pcl::PointCloud<pcl::PointXYZRGBNormal>& cloud_out, pcl::PointCloud<pcl::PointXYZRGBNormal>& cloud_obs);   

    void cloud_all(int KSearch, float normal_z, 
     float normal_y, float normal_x, float min_dist, 
     const pcl::PointCloud<pcl::PointXYZ>& cloud, 
     pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr& cloud_out, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr& cloud_obs); 

};

#endif