obstacle_detection_normals_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _obstacle_detection_normals_alg_node_h_
#define _obstacle_detection_normals_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "obstacle_detection_normals_alg.h"

#include <ros/ros.h>

#include <pcl_ros/point_cloud.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_types.h>
#include <pcl/filters/filter.h>


// [publisher subscriber headers]
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/point_cloud_conversion.h>
// [service client headers]

// [action server client headers]

using namespace std;


class ObstacleDetectionNormalsAlgNode : public algorithm_base::IriBaseAlgorithm<ObstacleDetectionNormalsAlgorithm>
{
  private:

    int KSearch;
    float normal_z,normal_y,normal_x,min_dist;

    // [publisher attributes]
    ros::Publisher obstacles_publisher_;
    ros::Publisher all_rg_publisher_;
    sensor_msgs::PointCloud2 obstacles_msg_;
    sensor_msgs::PointCloud obstaclespc_msg_;
    sensor_msgs::PointCloud2 all_rg_msg_;

    

    // [subscriber attributes]
    ros::Subscriber input_subscriber_;
    void input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex input_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]
    ObstacleDetectionNormalsAlgorithm obstacle_detect;
    // [action client attributes]

  public:
    ObstacleDetectionNormalsAlgNode(void);

    ~ObstacleDetectionNormalsAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
    
};

#endif