range_to_cloud.h
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00001 /* -*- mode: C++ -*- */
00002 /*********************************************************************
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2014, 2015 Jack O'Quin
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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/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the author nor other contributors may be
00019 *     used to endorse or promote products derived from this software
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00035 
00036 #ifndef _RANGE_TO_CLOUD_
00037 #define _RANGE_TO_CLOUD_ 1
00038 
00045 #include <ros/ros.h>
00046 #include <tf/transform_listener.h>
00047 #include <sensor_msgs/Range.h>
00048 
00049 namespace segbot_sensors
00050 {
00051   class RangeToCloud
00052   {
00053   public:
00054     RangeToCloud(ros::NodeHandle node, ros::NodeHandle priv_nh);
00055     ~RangeToCloud(){}
00056 
00057   private:
00058     void processRange(const sensor_msgs::Range::ConstPtr &rangeMsg);
00059 
00060     ros::Subscriber ranges_;
00061     ros::Publisher points_;
00062     tf::TransformListener listener_;
00063   };
00064 }; // end namespace segbot_sensors
00065 
00066 #endif // _RANGE_TO_CLOUD_


segbot_sensors
Author(s): Piyush Khandelwal
autogenerated on Fri Aug 28 2015 13:03:00