mrpt_bridge: laser_scan.h Source File

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00001 #ifndef MRPT_BRIDGE_LASER_SCAN_H
00002 #define MRPT_BRIDGE_LASER_SCAN_H
00003 
00004 
00005 
00006 #include <stdint.h>
00007 #include <string>
00008 
00009 namespace std{
00010     template <class T> class allocator;
00011 }
00012 
00013 namespace geometry_msgs{
00014     template <class ContainerAllocator> struct Pose_;
00015     typedef Pose_<std::allocator<void> > Pose;
00016 }
00017 
00018 namespace sensor_msgs{
00019     template <class ContainerAllocator> struct LaserScan_;
00020     typedef LaserScan_<std::allocator<void> > LaserScan;
00021 }
00022 
00023 namespace mrpt
00024 {
00025 namespace slam
00026 {
00027 class CObservation2DRangeScan;
00028 }
00029 }
00030 
00031 namespace mrpt_bridge {
00032 
00037     bool convert(const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, mrpt::slam::CObservation2DRangeScan &_obj);
00038 
00043     bool convert(const mrpt::slam::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg);
00044     
00049     bool convert(const mrpt::slam::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose);
00050 
00051 } //namespace mrpt_bridge
00052 
00053 #endif //MRPT_BRIDGE_LASER_SCAN_H