00001 #ifndef _PM_FOURIER_FOURIER_DIST_H_ 00002 #define _PM_FOURIER_FOURIER_DIST_H_ 00003 00004 #include <ros/ros.h> 00005 #include <geometry_msgs/Polygon.h> 00006 #include <geometry_msgs/Point32.h> 00007 00008 #include <lama_common/point.h> 00009 #include <lama_common/polygon.h> 00010 #include <polygon_matcher/PolygonDissimilarity.h> 00011 00012 #include <pm_fourier/fourier.h> 00013 00014 using std::vector; 00015 using lama_common::Point2; 00016 00017 class FourierDistance 00018 { 00019 public: 00020 00021 FourierDistance(ros::NodeHandle& node); 00022 00023 bool dissimilarity(polygon_matcher::PolygonDissimilarity::Request& req, polygon_matcher::PolygonDissimilarity::Response& res); 00024 00025 private: 00026 00027 ros::NodeHandle &node; 00028 }; 00029 00030 #endif // _PM_FOURIER_FOURIER_DIST_H_