normal_flip_to_frame.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_NORMAL_FLIP_TO_FRAME_H_
#define JSK_PCL_ROS_UTILS_NORMAL_FLIP_TO_FRAME_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include "jsk_recognition_utils/tf_listener_singleton.h"
 
namespace jsk_pcl_ros_utils
{
  class NormalFlipToFrame: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<NormalFlipToFrame> Ptr;
    NormalFlipToFrame(): DiagnosticNodelet("NormalFlipToFrame") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void flip(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
 
    ros::Publisher pub_;
    ros::Subscriber sub_;
    std::string frame_id_;
    tf::TransformListener* tf_listener_;
    bool strict_tf_;
  private:
    
  };
}
 
#endif