realtime_urdf_filter_nodelet.h

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/* 
 * Copyright (c) 2011, Nico Blodow <blodow@cs.tum.edu>
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Intelligent Autonomous Systems Group/
 *       Technische Universitaet Muenchen nor the names of its contributors 
 *       may be used to endorse or promote products derived from this software 
 *       without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <realtime_urdf_filter/urdf_filter.h>
#include <realtime_urdf_filter/urdf_renderer.h>
#include <realtime_urdf_filter/depth_and_info_subscriber.h>

#include <nodelet/nodelet.h>

namespace realtime_urdf_filter
{
  class RealtimeURDFFilterNodelet : public nodelet::Nodelet
  {
  public:
    RealtimeURDFFilterNodelet();
    virtual void onInit();
  private:
    std::vector<std::string> args_;
    unsigned int argc_;
    char** argv_;
    boost::shared_ptr<realtime_urdf_filter::RealtimeURDFFilter> filter_;
  };
}