00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_PCL_ROS_SPHERICAL_POINTCLOUD_SIMULATOR_H_ 00038 #define JSK_PCL_ROS_SPHERICAL_POINTCLOUD_SIMULATOR_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <jsk_pcl_ros/SphericalPointCloudSimulatorConfig.h> 00042 #include <pcl_conversions/pcl_conversions.h> 00043 #include <dynamic_reconfigure/server.h> 00044 00045 namespace jsk_pcl_ros 00046 { 00051 class SphericalPointCloudSimulator: public jsk_topic_tools::DiagnosticNodelet 00052 { 00053 public: 00054 typedef SphericalPointCloudSimulatorConfig Config; 00055 SphericalPointCloudSimulator(): 00056 DiagnosticNodelet("SphericalPointCloudSimulator") {} 00057 protected: 00061 virtual void onInit(); 00062 00066 virtual void subscribe(); 00067 00071 virtual void unsubscribe(); 00072 00076 virtual void configCallback(Config &config, uint32_t level); 00077 00083 virtual void generate( 00084 const sensor_msgs::PointCloud2::ConstPtr& msg); 00085 00089 virtual void timerCallback( 00090 const ros::TimerEvent& event); 00091 00100 virtual pcl::PointXYZ getPoint( 00101 double r, double theta, const Eigen::Affine3f& trans); 00102 00106 virtual Eigen::Affine3f getPlane(double phi); 00107 00108 boost::mutex mutex_; 00109 ros::Subscriber sub_; 00110 ros::Publisher pub_; 00111 boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_; 00112 00117 std::string frame_id_; 00118 double rotate_velocity_; 00119 00120 ros::Timer timer_; 00121 // model parameters 00122 double r_; 00123 double min_phi_; 00124 double max_phi_; 00125 double scan_range_; 00126 double fps_; 00127 int scan_num_; 00128 00129 private: 00130 00131 }; 00132 } 00133 00134 #endif