laser_scan_sparsifier.h
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00001 /*
00002  * Copyright (c) 2011, Ivan Dryanovski
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the CCNY Robotics Lab nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_H
00031 #define LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_H
00032 
00033 #include <ros/ros.h>
00034 #include <sensor_msgs/LaserScan.h>
00035 
00036 namespace scan_tools {
00037 
00038 class LaserScanSparsifier
00039 {
00040   public:
00041 
00042     LaserScanSparsifier(ros::NodeHandle nh, ros::NodeHandle nh_private);
00043     virtual ~LaserScanSparsifier();
00044 
00045   private:
00046 
00047     // **** ROS-related
00048     ros::NodeHandle nh_;
00049     ros::NodeHandle nh_private_;
00050     ros::Subscriber scan_subscriber_;
00051     ros::Publisher  scan_publisher_;
00052 
00053     // **** paramaters
00054 
00055     int step_;
00056 
00057     // **** member functions
00058 
00059     void scanCallback(const sensor_msgs::LaserScanConstPtr& scan_msg);
00060 };
00061 
00062 } //namespace scan_tools
00063 
00064 #endif // LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_H


laser_scan_sparsifier
Author(s): Ivan Dryanovski, William Morris
autogenerated on Thu Mar 23 2017 03:34:33