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 _zyonz_nbv_geometric_simple_alg_h_ 00026 #define _zyonz_nbv_geometric_simple_alg_h_ 00027 00028 #include <zyonz_nbv_geometric_simple/ZyonzNbvGeometricSimpleConfig.h> 00029 #include "mutex.h" 00030 #include <geometry_msgs/PoseStamped.h> 00031 #include <tf/transform_datatypes.h> 00032 00033 //include zyonz_nbv_geometric_simple_alg main library 00034 00040 class ZyonzNbvGeometricSimpleAlgorithm 00041 { 00042 private: 00043 geometry_msgs::PoseStamped::Ptr nbv_ptr_; 00044 00045 protected: 00052 CMutex alg_mutex_; 00053 00054 // private attributes and methods 00055 00056 public: 00063 typedef zyonz_nbv_geometric_simple::ZyonzNbvGeometricSimpleConfig Config; 00064 00071 Config config_; 00072 00081 ZyonzNbvGeometricSimpleAlgorithm(void); 00082 00088 void lock(void) { alg_mutex_.enter(); }; 00089 00095 void unlock(void) { alg_mutex_.exit(); }; 00096 00104 bool try_enter(void) { return alg_mutex_.try_enter(); }; 00105 00117 void config_update(Config& new_cfg, uint32_t level=0); 00118 00119 bool isRunning(geometry_msgs::PoseStamped& viewpoint, geometry_msgs::PoseStamped& viewpoint_roi); 00120 00121 // here define all zyonz_nbv_geometric_simple_alg interface methods to retrieve and set 00122 // the driver parameters 00123 00124 geometry_msgs::PoseStamped::Ptr get_nbv () const; 00125 00132 ~ZyonzNbvGeometricSimpleAlgorithm(void); 00133 }; 00134 00135 #endif