subtract_point_indices.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_UTILS_SUBTRACT_POINT_INDICES_H_
00038 #define JSK_PCL_ROS_UTILS_SUBTRACT_POINT_INDICES_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 
00042 #include "jsk_recognition_utils/pcl_conversion_util.h"
00043 #include "jsk_recognition_utils/pcl_util.h"
00044 
00045 #include <message_filters/subscriber.h>
00046 #include <message_filters/time_synchronizer.h>
00047 #include <message_filters/synchronizer.h>
00048 #include <message_filters/sync_policies/exact_time.h>
00049 #include <message_filters/sync_policies/approximate_time.h>
00050 
00051 namespace jsk_pcl_ros_utils
00052 {
00053   class SubtractPointIndices: public jsk_topic_tools::DiagnosticNodelet
00054   {
00055   public:
00056     typedef message_filters::sync_policies::ExactTime<
00057     PCLIndicesMsg,
00058     PCLIndicesMsg > SyncPolicy;
00059     typedef message_filters::sync_policies::ApproximateTime<
00060     PCLIndicesMsg,
00061     PCLIndicesMsg > ASyncPolicy;
00062 
00063     SubtractPointIndices(): DiagnosticNodelet("SubtractPointIndices") {}
00064 
00065   protected:
00066     virtual void onInit();
00067     virtual void subscribe();
00068     virtual void unsubscribe();
00069     virtual void subtract(
00070       const PCLIndicesMsg::ConstPtr& src1,
00071       const PCLIndicesMsg::ConstPtr& src2);
00072 
00073     ros::Publisher pub_;
00074     message_filters::Subscriber<PCLIndicesMsg> sub_src1_;
00075     message_filters::Subscriber<PCLIndicesMsg> sub_src2_;
00076     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00077     boost::shared_ptr<message_filters::Synchronizer<ASyncPolicy> > async_;
00078     bool approximate_sync_;
00079   private:
00080 
00081   };
00082 }
00083 
00084 #endif


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