Node.h
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00001 
00012 #ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_REMOTE_NODE_H_
00013 #define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_REMOTE_NODE_H_
00014 
00015 // worldlib
00016 #include "InteractiveWorldModelClient.h"
00017 #include "SpatialWorldClient.h"
00018 #include "../geometry/Pose.h"
00019 #include "../world/World.h"
00020 
00021 // ROS
00022 #include <ros/node_handle.h>
00023 #include <tf2_ros/transform_listener.h>
00024 
00025 namespace rail
00026 {
00027 namespace spatial_temporal_learning
00028 {
00029 namespace worldlib
00030 {
00031 namespace remote
00032 {
00033 
00040 class Node
00041 {
00042 public:
00048   Node();
00049 
00057   bool okay() const;
00058 
00059 protected:
00068   bool loadWorldYamlFile(const bool verbose = true);
00069 
00078   InteractiveWorldModelClient *createInteractiveWorldModelClient(const bool verbose = true) const;
00079 
00088   SpatialWorldClient *createSpatialWorldClient(const bool verbose = true) const;
00089 
00099   geometry::Pose transformToWorld(const geometry::Pose &pose, const std::string &pose_frame_id) const;
00100 
00102   bool okay_;
00104   worldlib::world::World world_;
00106   ros::NodeHandle node_, private_node_;
00108   tf2_ros::Buffer tfs_;
00110   tf2_ros::TransformListener tf_listener_;
00111 };
00112 
00113 }
00114 }
00115 }
00116 }
00117 
00118 #endif


worldlib
Author(s): Russell Toris
autogenerated on Thu Jun 6 2019 20:55:36