polygon_appender.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00035 
00036 #ifndef JSK_PCL_ROS_UTILS_POLYGON_APPENDER_H_
00037 #define JSK_PCL_ROS_UTILS_POLYGON_APPENDER_H_
00038 
00039 #include <jsk_recognition_msgs/PolygonArray.h>
00040 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00041 #include <pcl_ros/pcl_nodelet.h>
00042 
00043 #include <message_filters/subscriber.h>
00044 #include <message_filters/time_synchronizer.h>
00045 #include <message_filters/synchronizer.h>
00046 
00047 #include <jsk_topic_tools/connection_based_nodelet.h>
00048 
00049 namespace jsk_pcl_ros_utils
00050 {
00051   class PolygonAppender: public jsk_topic_tools::ConnectionBasedNodelet
00052   {
00053   public:
00054     typedef message_filters::sync_policies::ExactTime<
00055     jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray,
00056     jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> SyncPolicy2;
00057     
00058   protected:
00059     virtual void onInit();
00060     virtual void subscribe();
00061     virtual void unsubscribe();
00062     virtual void appendAndPublish(
00063       const std::vector<jsk_recognition_msgs::PolygonArray::ConstPtr>& arrays,
00064       const std::vector<jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr>& coefficients_array);
00065     virtual void callback2(const jsk_recognition_msgs::PolygonArray::ConstPtr& msg0,
00066                            const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients0,
00067                            const jsk_recognition_msgs::PolygonArray::ConstPtr& msg1,
00068                            const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients1);
00069     
00070     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon0_;
00071     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon1_;
00072     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients0_;
00073     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients1_;
00074     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy2> >sync_;
00075     ros::Publisher pub_polygon_, pub_coefficients_;
00076   private:
00077   };
00078 }
00079 
00080 #endif 


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:05