ORControlModule.h
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00001 /*******************************************************************************
00002  *  ORControlModule.h
00003  *
00004  *  (C) 2006 AG Aktives Sehen <agas@uni-koblenz.de>
00005  *           Universitaet Koblenz-Landau
00006  *
00007  *******************************************************************************/
00008 
00009 #ifndef ORControlModule_H
00010 #define ORControlModule_H
00011 
00012 #include <ros/ros.h>
00013 #include <or_msgs/OrCommand.h>
00014 #include <or_msgs/OrMatchResult.h>
00015 
00016 class ORMatchingModule;
00017 
00023 class ORControlModule
00024 {
00025   public:
00026 
00027     enum CommandId {
00028       LoadObject,
00029       UnloadObject,
00030       LoadSingleImage,
00031       GrabSingleImage,
00032       StartRecognitionLoop,
00033       StopRecognitionLoop
00034     };
00035 
00036     enum ValueT {
00037       NoValue,
00038       FloatValue,
00039       StringValue,
00040       IntValue
00041     };
00042 
00044     ORControlModule(ros::NodeHandle *nh, ORMatchingModule* objRecMatchingModule);
00045 
00047     virtual ~ORControlModule();
00048 
00049   private:
00050 
00051     void callbackOrCommand( const or_msgs::OrCommand::ConstPtr& msg );
00052     void callbackOrMatchResult( const or_msgs::OrMatchResult::ConstPtr& msg);
00053 
00054     int m_ImagesInPipeline;
00055     int m_MaxImagesInPipeline;
00056 
00057     bool m_Continuous;
00058 
00059     ORMatchingModule* m_ORMatchingModule;
00060 
00061     int m_SourceId; // TODO ImageSources::SourceId m_SourceId;
00062     std::vector<or_msgs::BoundingBox2D> m_BoundingBoxes;
00063 
00064     ros::Subscriber m_ORCommandSubscriber;
00065     ros::Subscriber m_ORMatchResultSubscriber;
00066 
00067     ros::Publisher m_ExtractKeyPointsPublisher;
00068     ros::Publisher m_DebugImagePublisher;
00069 
00070     ros::Publisher m_DebugImagePublisherGray;
00071     ros::Publisher m_DebugImagePublisherColor;
00072 };
00073 
00074 #endif
00075 


or_nodes
Author(s): raphael
autogenerated on Mon Oct 6 2014 02:53:36