polygon_array_wrapper.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_POLYGON_ARRAY_WRAPPER_H_
#define JSK_PCL_ROS_POLYGON_ARRAY_WRAPPER_H_

#include <pcl_ros/pcl_nodelet.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include "jsk_pcl_ros/pcl_conversion_util.h"

#include <geometry_msgs/PolygonStamped.h>
#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class PolygonArrayWrapper: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
      geometry_msgs::PolygonStamped, PCLModelCoefficientMsg> SyncPolicy;

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void wrap(const geometry_msgs::PolygonStamped::ConstPtr& polygon,
                      const PCLModelCoefficientMsg::ConstPtr& coefficients);
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    message_filters::Subscriber<geometry_msgs::PolygonStamped> sub_polygon_;
    message_filters::Subscriber<PCLModelCoefficientMsg> sub_coefficients_;
    ros::Publisher pub_polygon_array_;
    ros::Publisher pub_coefficients_array_;
  private:
    
  };
}

#endif