polygon_array_wrapper_nodelet.cpp
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, 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
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 #include "jsk_pcl_ros_utils/polygon_array_wrapper.h"
00037 
00038 namespace jsk_pcl_ros_utils
00039 {
00040   void PolygonArrayWrapper::onInit()
00041   {
00042     ConnectionBasedNodelet::onInit();
00043     pub_polygon_array_ = advertise<jsk_recognition_msgs::PolygonArray>(*pnh_,
00044       "output_polygons", 1);
00045     pub_coefficients_array_
00046       = advertise<jsk_recognition_msgs::ModelCoefficientsArray>(*pnh_,
00047         "output_coefficients", 1);
00048   }
00049 
00050   void PolygonArrayWrapper::subscribe()
00051   {
00052     sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
00053     sub_polygon_.subscribe(*pnh_, "input_polygon", 1);
00054     sub_coefficients_.subscribe(*pnh_, "input_coefficients", 1);
00055     sync_->connectInput(sub_polygon_, sub_coefficients_);
00056     sync_->registerCallback(boost::bind(
00057                               &PolygonArrayWrapper::wrap,
00058                               this, _1, _2));
00059   }
00060 
00061   void PolygonArrayWrapper::unsubscribe()
00062   {
00063     sub_polygon_.unsubscribe();
00064     sub_coefficients_.unsubscribe();
00065   }
00066   
00067   void PolygonArrayWrapper::wrap(
00068     const geometry_msgs::PolygonStamped::ConstPtr& polygon,
00069     const pcl_msgs::ModelCoefficients::ConstPtr& coefficients)
00070   {
00071     jsk_recognition_msgs::PolygonArray array_msg;
00072     array_msg.header = polygon->header;
00073     geometry_msgs::PolygonStamped new_polygon(*polygon);
00074     array_msg.polygons.push_back(new_polygon);
00075     pub_polygon_array_.publish(array_msg);
00076 
00077     jsk_recognition_msgs::ModelCoefficientsArray coefficients_array;
00078     coefficients_array.header = coefficients->header;
00079     pcl_msgs::ModelCoefficients new_coefficients(*coefficients);
00080     coefficients_array.coefficients.push_back(new_coefficients);
00081     pub_coefficients_array_.publish(coefficients_array);
00082   }
00083   
00084 }
00085 
00086 #include <pluginlib/class_list_macros.h>
00087 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::PolygonArrayWrapper, nodelet::Nodelet);


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