polygon_array_angle_likelihood.h

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

#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>

#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <Eigen/Geometry>

namespace jsk_pcl_ros_utils
{
  class PolygonArrayAngleLikelihood: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<PolygonArrayAngleLikelihood> Ptr;
    PolygonArrayAngleLikelihood(): DiagnosticNodelet("PolygonArrayAngleLikelihood") {}

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void likelihood(const jsk_recognition_msgs::PolygonArray::ConstPtr& msg);

    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_;
    ros::Publisher pub_;
    boost::shared_ptr<tf::MessageFilter<jsk_recognition_msgs::PolygonArray> > tf_filter_;
    tf::TransformListener* tf_listener_;
    std::string target_frame_id_;
    int tf_queue_size_;
    boost::mutex mutex_;
    Eigen::Vector3f axis_;
  private:
    
  };
}

#endif