marker_manager.h

Go to the documentation of this file.

#include <QMetaType>


#include <QThread>
#ifndef Q_MOC_RUN
#include <asr_msgs/AsrObject.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <eigen_conversions/eigen_msg.h>
#include <asr_aruco_marker_recognition/GetRecognizer.h>
#include <asr_aruco_marker_recognition/ReleaseRecognizer.h>
#endif



class Marker_Manager : public QThread
{
    Q_OBJECT
    public:
      Marker_Manager(double timeout, double earlyabort_timeout, QObject *parent=0);
      void run();
      void markerRecognitionCallback(const asr_msgs::AsrObject::ConstPtr object);

    private:
      ros::ServiceClient client_ReleaseRecognizer;
      ros::ServiceClient client_GetRecognizer;
      ros::NodeHandle nh;

      bool releaseRecognizer();
      bool getRecognizer();
      bool recognizedMarker;
      ros::Subscriber a;
      double timeout;
      double earlyabort_timeout;
    signals:
      void markerFound(std::string markerNumber, const Eigen::Matrix4d &transformation);
};