pointcloud_relative_from_pose_stamped.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_POINTCLOUD_RELATIVE_FROM_POSE_STAMPED_H_
#define JSK_PCL_ROS_UTILS_POINTCLOUD_RELATIVE_FROM_POSE_STAMPED_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <sensor_msgs/PointCloud2.h>
#include <geometry_msgs/PoseStamped.h>

namespace jsk_pcl_ros_utils
{
  class PointCloudRelativeFromPoseStamped: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::PointCloud2,
    geometry_msgs::PoseStamped > SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::PointCloud2,
    geometry_msgs::PoseStamped > ApproximateSyncPolicy;
    PointCloudRelativeFromPoseStamped(): DiagnosticNodelet("PointCloudRelativeFromPoseStamped") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void transform(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
                           const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
    
    ros::Publisher pub_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
    message_filters::Subscriber<geometry_msgs::PoseStamped> sub_pose_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
    bool approximate_sync_;
  private:
  };
}

#endif