Program Listing for File pointcloud.hpp

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// Copyright (c) 2022 Samsung R&D Institute Russia
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef NAV2_COLLISION_MONITOR__POINTCLOUD_HPP_
#define NAV2_COLLISION_MONITOR__POINTCLOUD_HPP_

#include <memory>
#include <vector>
#include <string>

#include "sensor_msgs/msg/point_cloud2.hpp"

#include "nav2_collision_monitor/source.hpp"

namespace nav2_collision_monitor
{

class PointCloud : public Source
{
public:
  PointCloud(
    const nav2_util::LifecycleNode::WeakPtr & node,
    const std::string & source_name,
    const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
    const std::string & base_frame_id,
    const std::string & global_frame_id,
    const tf2::Duration & transform_tolerance,
    const rclcpp::Duration & source_timeout,
    const bool base_shift_correction);
  ~PointCloud();

  void configure();

  void getData(
    const rclcpp::Time & curr_time,
    std::vector<Point> & data) const;

protected:
  void getParameters(std::string & source_topic);

  void dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);

  // ----- Variables -----

  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr data_sub_;

  // Minimum and maximum height of PointCloud projected to 2D space
  double min_height_, max_height_;

  sensor_msgs::msg::PointCloud2::ConstSharedPtr data_;
};  // class PointCloud

}  // namespace nav2_collision_monitor

#endif  // NAV2_COLLISION_MONITOR__POINTCLOUD_HPP_