nearest_backward.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Copyright (C) 2011 Austin Robot Technology
00004  *  License: Modified BSD Software License Agreement
00005  * 
00006  *  $Id: nearest_backward.h 1866 2011-11-22 03:06:45Z cor0505@aol.com $
00007  */
00008 
00017 #ifndef _NEAREST_BACKWARD_OBSERVER_H_
00018 #define _NEAREST_BACKWARD_OBSERVER_H_
00019 
00020 #include <art_observers/filter.h>
00021 #include <art_observers/observer.h>
00022 
00023 namespace observers
00024 {
00025 
00027 class NearestBackward: public Observer 
00028 {
00029 public:
00030   NearestBackward(art_observers::ObserversConfig &config);
00031   ~NearestBackward();
00032 
00033   virtual art_msgs::Observation
00034     update(const art_msgs::ArtLanes &local_map,
00035            const art_msgs::ArtLanes &obstacles,
00036            MapPose pose_);
00037 
00038 private:
00039   std::vector<float> distance_;
00040 
00041   MedianFilter distance_filter_;
00042   MeanFilter velocity_filter_;
00043 
00044   ros::Time prev_update_;
00045 };
00046 
00047 }; // namespace observers
00048 
00049 #endif // _NEAREST_BACKWARD_OBSERVER_H_
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art_observers
Author(s): Michael Quinlan, Jack O'Quin, Corbyn Salisbury
autogenerated on Tue Sep 24 2013 10:43:43