segment_to_graph_node.h

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#ifndef SEGMENT_TO_GRAPH_NODE_H
#define SEGMENT_TO_GRAPH_NODE_H

#include <ros/ros.h>
#include <memory>
#include <tuw_multi_robot_msgs/Vertex.h>
#include <tuw_multi_robot_msgs/Graph.h>
#include <geometry_msgs/Point.h>

#include <eigen3/Eigen/Dense>

namespace tuw_graph
{
    struct PathSeg
    {
        Eigen::Vector2d start;
        Eigen::Vector2d end;
        float width;
        PathSeg(Eigen::Vector2d _s, Eigen::Vector2d _e, double _w) : start(_s), end(_e), width(_w)  {  }
    };

    class SegmentToGraphNode
    {
        public:
            SegmentToGraphNode(ros::NodeHandle &n);
            void Publish();
            ros::NodeHandle             n_;      
            ros::NodeHandle             n_param_;
            std::unique_ptr<ros::Rate>  rate_;

            
        private:
            ros::Publisher               pubSegments_;


            std::string             segment_file_;
            std::string             segment_topic_;
            double                  path_length_;

            tuw_multi_robot_msgs::Graph current_graph_;

            void readSegments();
            std::vector<int32_t> findNeighbors(std::vector<PathSeg> &_graph, Eigen::Vector2d _point, uint32_t _segment);
    };
}
#endif // PLANNER_NODE_H