client.h
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00001 /****************************************************************************
00002  *
00003  * $Id: file.h 3496 2011-11-22 15:14:32Z fnovotny $
00004  *
00005  * This file is part of the ViSP software.
00006  * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
00007  *
00008  * This software is free software; you can redistribute it and/or
00009  * modify it under the terms of the GNU General Public License
00010  * ("GPL") version 2 as published by the Free Software Foundation.
00011  * See the file LICENSE.txt at the root directory of this source
00012  * distribution for additional information about the GNU GPL.
00013  *
00014  * For using ViSP with software that can not be combined with the GNU
00015  * GPL, please contact INRIA about acquiring a ViSP Professional
00016  * Edition License.
00017  *
00018  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
00019  *
00020  * This software was developed at:
00021  * INRIA Rennes - Bretagne Atlantique
00022  * Campus Universitaire de Beaulieu
00023  * 35042 Rennes Cedex
00024  * France
00025  * http://www.irisa.fr/lagadic
00026  *
00027  * If you have questions regarding the use of this file, please contact
00028  * INRIA at visp@inria.fr
00029  *
00030  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
00031  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
00032  *
00033  * Contact visp@irisa.fr if any conditions of this licensing are
00034  * not clear to you.
00035  *
00036  * Description:
00037  * Client node
00038  *
00039  * Authors:
00040  * Filip Novotny
00041  *
00042  *
00043  *****************************************************************************/
00044 
00050 #ifndef __visp_hand2eye_calibration_CLIENT_H__
00051 #define __visp_hand2eye_calibration_CLIENT_H__
00052 #include "ros/ros.h"
00053 #include "geometry_msgs/Transform.h"
00054 #include "visp_hand2eye_calibration/compute_effector_camera.h" 
00055 #include "visp_hand2eye_calibration/compute_effector_camera_quick.h" 
00056 #include "visp_hand2eye_calibration/reset.h" 
00057 
00058 namespace visp_hand2eye_calibration{ 
00059   class Client{
00060   private:
00061     ros::NodeHandle n_;
00062     ros::Publisher camera_object_publisher_;
00063     ros::Publisher world_effector_publisher_;
00064     ros::ServiceClient reset_service_;
00065     ros::ServiceClient compute_effector_camera_service_;
00066     ros::ServiceClient compute_effector_camera_quick_service_;
00067 
00068     visp_hand2eye_calibration::reset reset_comm;
00069     visp_hand2eye_calibration::compute_effector_camera emc_comm;
00070     visp_hand2eye_calibration::compute_effector_camera_quick emc_quick_comm;
00071 
00072     
00073   public:
00074     Client();
00075     void initAndSimulate();
00076     void computeFromTopicStream();
00077     void computeUsingQuickService();
00078  };
00079 }
00080 #endif


visp_hand2eye_calibration
Author(s): Filip Novotny
autogenerated on Sat Dec 28 2013 17:45:52