polygon_array_area_likelihood.h

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

#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>

#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros_utils/PolygonArrayAreaLikelihoodConfig.h>

namespace jsk_pcl_ros_utils
{
  class PolygonArrayAreaLikelihood: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<PolygonArrayAreaLikelihood> Ptr;
    typedef PolygonArrayAreaLikelihoodConfig Config;
    PolygonArrayAreaLikelihood(): DiagnosticNodelet("PolygonArrayAreaLikelihood") {}

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void likelihood(const jsk_recognition_msgs::PolygonArray::ConstPtr& msg);
    virtual void configCallback(Config& config, uint32_t level);
    ros::Subscriber sub_;
    ros::Publisher pub_;
    double area_;
    boost::mutex mutex_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
  private:
    
  };
}

#endif