pose_with_covariance_stamped_to_gaussian_pointcloud.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <jsk_pcl_ros_utils/PoseWithCovarianceStampedToGaussianPointCloudConfig.h>
#include <Eigen/Geometry>
#include <dynamic_reconfigure/server.h>
namespace jsk_pcl_ros_utils
{
  class PoseWithCovarianceStampedToGaussianPointCloud: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef PoseWithCovarianceStampedToGaussianPointCloudConfig Config;
    PoseWithCovarianceStampedToGaussianPointCloud(): 
      DiagnosticNodelet("PoseWithCovarianceStampedToGaussianPointCloud") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg);
    virtual void configCallback(Config& config, uint32_t level);
    virtual float gaussian(const Eigen::Vector2f& input,
                           const Eigen::Vector2f& mean,
                           const Eigen::Matrix2f& S,
                           const Eigen::Matrix2f& S_inv);
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
    std::string cut_plane_;
    double threshold_;
    std::string normalize_method_;
    double normalize_value_;
    int sampling_num_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
  };
}

#endif