nearfield_map_pa_node.h

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/******************************************************************************
*                                                                             *
* nearfield_map_pa_node.h                                                     *
* =======================                                                     *
*                                                                             *
*******************************************************************************
*                                                                             *
* Repository:                                                                 *
*   https://github.com/TUC-ProAut/ros_nearfield_map                           *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
* Author:                                                                     *
*   Peter Weissig                                                             *
*                                                                             *
*******************************************************************************
*                                                                             *
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#ifndef __NEARFIELD_MAP_PA_NODE_H
#define __NEARFIELD_MAP_PA_NODE_H
 
// local headers
#include "nearfield_map_base_pa_node.h"
 
#include "nearfield_map/NearfieldMapGetSize.h"
 
// ros headers
#include <ros/ros.h>
 
#include <octomap_pa/octree_pa_ros.h>
#include <octomap_pa/addcloud_parameter.h>
 
//**************************[cNearfieldMapPaNode]******************************
class cNearfieldMapPaNode : public cNearfieldMapBasePaNode<cOctreePaRos> {
  public:
    cNearfieldMapPaNode();
 
    ~cNearfieldMapPaNode();
 
  protected:
    cAddCloudParameter params_octomap_camera_;
    cAddCloudParameter params_octomap_laser_scan_;
    cAddCloudParameter params_octomap_laser_full_;
 
    void addPcdCameraCallbackSub(
        const sensor_msgs::PointCloud2ConstPtr &msg);
    void addPcdLaserScanCallbackSub(
        const sensor_msgs::PointCloud2ConstPtr &msg);
    void addPcdLaserFullCallbackSub(
        const sensor_msgs::PointCloud2ConstPtr &msg);
 
    bool getSizeCallbackSrv(
        nearfield_map::NearfieldMapGetSize::Request  &req,
        nearfield_map::NearfieldMapGetSize::Response &res);
};
 
#endif // __NEARFIELD_MAP_PA_NODE_H