00001 /* 00002 * KalmanStateEstimator.hpp 00003 * 00004 * Created on: Jun 19, 2012 00005 * Author: rspica 00006 */ 00007 00008 #ifndef SENSORHANDLER_HPP_ 00009 #define SENSORHANDLER_HPP_ 00010 00011 00012 #include <telekyb_defines/telekyb_defines.hpp> 00013 #include <StateEstimators/KalmanDataTypes.hpp> 00014 #include <telekyb_base/Options.hpp> 00015 00016 using namespace TELEKYB_NAMESPACE; 00017 00018 namespace telekyb_state { 00019 00020 class SensorHandler{ 00021 00022 public: 00023 //Core functions 00024 virtual void update(StateBufferElement& state) = 0; 00025 virtual void initialize() = 0; 00026 virtual void destroy() = 0; 00027 virtual ~SensorHandler(){}; 00028 00029 protected: 00030 ros::NodeHandle nodeHandle; 00031 ros::Subscriber sensorSub; 00032 }; 00033 00034 00035 } /* namespace telekyb_state */ 00036 #endif /* SENSORHANDLER_HPP_ */
