00001 /* 00002 * Copyright (C) 2010 UT-Austin & Austin Robot Technology, 00003 * David Claridge, Michael Quinlan, Jack O'Quin 00004 * Copyright (C) 2012 Jack O'Quin 00005 * 00006 * License: Modified BSD Software License 00007 */ 00008 00015 #include <pluginlib/class_list_macros.h> 00016 #include <nodelet/nodelet.h> 00017 00018 #include <velodyne_height_map/heightmap.h> 00019 00020 namespace velodyne_height_map { 00021 00022 class HeightMapNodelet: public nodelet::Nodelet 00023 { 00024 public: 00025 00026 HeightMapNodelet() {} 00027 ~HeightMapNodelet() {} 00028 00029 void onInit(void) 00030 { 00031 heightmap_.reset(new HeightMap(getNodeHandle(), getPrivateNodeHandle())); 00032 } 00033 00034 private: 00035 00036 boost::shared_ptr<HeightMap> heightmap_; 00037 }; 00038 00039 }; // namespace velodyne_height_map 00040 00041 // Register this plugin with pluginlib. Names must match height_map_nodelet.xml. 00042 // 00043 // parameters: package, class name, class type, base class type 00044 PLUGINLIB_DECLARE_CLASS(velodyne_height_map, HeightMapNodelet, 00045 velodyne_height_map::HeightMapNodelet, nodelet::Nodelet);