cloud_handler.h
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // author: Adam Leeper
00031 
00032 #ifndef _CLOUD_CONTAINER_H_
00033 #define _CLOUD_CONTAINER_H_
00034 
00035 #include <ros/ros.h>
00036 
00037 #include <interactive_markers/interactive_marker_server.h>
00038 #include <interactive_markers/menu_handler.h>
00039 #include <sensor_msgs/PointCloud2.h>
00040 
00041 #include <tf/transform_listener.h>
00042 
00043 class CloudContainer
00044 {
00045 public:
00046 
00047   CloudContainer( ros::NodeHandle *nh, tf::TransformListener *tfl,
00048                   std::string name, const std::string &topic);
00049 
00050   ~CloudContainer();
00051 
00053   void clear();
00054 
00056   bool refresh(const std::string &topic, const std::string &frame);
00057 
00059   //sensor_msgs::PointCloud2 get();
00060   bool get(sensor_msgs::PointCloud2 &cloud, const std::string &frame);
00061 
00063   void set(const sensor_msgs::PointCloud2 &cloud, const std::string &frame);
00064 
00066   void changeFrame(const std::string &frame);
00067 
00068 private:
00069 
00070   sensor_msgs::PointCloud2 cloud_;
00071 
00072   std::string name_, topic_;
00073   ros::NodeHandle *nh_;
00074   ros::Publisher pub_point_;
00075   tf::TransformListener *tfl_;
00076 };
00077 
00078 #endif


point_cloud_server
Author(s): Adam Leeper
autogenerated on Thu Jan 2 2014 11:39:34