diff --git a/.svn/entries b/.svn/entries
deleted file mode 100644
index 48082f72f087ce7e6fa75b9c41d7387daecd447b..0000000000000000000000000000000000000000
--- a/.svn/entries
+++ /dev/null
@@ -1 +0,0 @@
-12
diff --git a/.svn/format b/.svn/format
deleted file mode 100644
index 48082f72f087ce7e6fa75b9c41d7387daecd447b..0000000000000000000000000000000000000000
--- a/.svn/format
+++ /dev/null
@@ -1 +0,0 @@
-12
diff --git a/.svn/pristine/14/14939b7bc3e235246fcf3fa7f52ff827636a4e79.svn-base b/.svn/pristine/14/14939b7bc3e235246fcf3fa7f52ff827636a4e79.svn-base
deleted file mode 100644
index d75a81fe70932c2fd3d61c6aa5fc361199b5889c..0000000000000000000000000000000000000000
--- a/.svn/pristine/14/14939b7bc3e235246fcf3fa7f52ff827636a4e79.svn-base
+++ /dev/null
@@ -1,143 +0,0 @@
-#include "obstacle_detection_normals_alg.h"
-using namespace std;
-
-ObstacleDetectionNormalsAlgorithm::ObstacleDetectionNormalsAlgorithm(void)
-{
-}
-
-ObstacleDetectionNormalsAlgorithm::~ObstacleDetectionNormalsAlgorithm(void)
-{
-}
-
-void ObstacleDetectionNormalsAlgorithm::config_update(Config& new_cfg, uint32_t level)
-{
- this->lock();
-
- // save the current configuration
- this->config_=new_cfg;
-
- this->unlock();
-}
-
-// ObstacleDetectionNormalsAlgorithm Public API
-
-void ObstacleDetectionNormalsAlgorithm::cloud_all(int KSearch, float normal_z,
- float normal_y, float normal_x, float min_dist,
- const pcl::PointCloud<pcl::PointXYZ>& cloud,
- pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr& cloud_out, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr& cloud_obs)
-{
-
-//pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
- // Output datasets
- pcl::PointCloud<pcl::Normal>::Ptr output (new pcl::PointCloud<pcl::Normal>);
-
-// Normal estimation using integral Images /////////////////////////////////////////////
-// NOTE: Point cloud should contain width and height structure
-
-// pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> n;
-
-// n.setNormalEstimationMethod(n.AVERAGE_3D_GRADIENT);
-// n.setMaxDepthChangeFactor(0.02f);
-// n.setNormalSmoothingSize(10.0f);
-// n.setInputCloud(cloud);
-// n.compute(*output);
-
-// ROS Fuerte version //////////////////////////////////////////////////////////////
-
- // Create the normal estimation class, and pass the input dataset to it
- pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
- // [Multi-threat](NOTE: Point cloud should contain width and height structure):
- // pcl::NormaleEstimationOMP<pcl::PointXYZ, pcl::Normal> n;
- // n.setNumberOfThreads(8);
-
- // To work with Pointers ::Ptr ///////////////////////////////////////////////////////////
- // // Set input cloud
- // n.setInputCloud (cloud);
-
- // // Create an empty kdtree representation, and pass it to the normal estimation object.
- // // Its content will be filled inside the object, based on the given input dataset (as no other search surface is given).
- // pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
- // n.setSearchMethod (tree);
-
- // // Use all neighbors in a sphere of radius 3cm
- // n.setRadiusSearch (KSearch);
- // // [Multi-threat](NOTE: Point cloud should contain width and height structure) :
- // // n.setKSearch (KSearch);
-
- // double secs = ros::Time::now().toSec();
-
- // // Compute the features
- // n.compute (*output);
-
- // pcl::concatenateFields (*cloud, *output, *cloud_out);
-
- // double secs2 = ros::Time::now().toSec();
- // double diff = secs2-secs;
- // ROS_INFO("computation time: %2.2f",diff);
-
-/////////////////////////////////////////////////////////////////////////////////
-
- std::vector<int> indices;
- indices.resize (cloud.points.size());
- for (size_t i = 0; i < indices.size (); ++i) { indices[i] = i; }
-
- pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
-
-
- boost::shared_ptr< vector<int> > indicesptr(new vector<int> (indices));
- // set normal estimation parameters
- n.setIndices(indicesptr);
- n.setSearchMethod(tree);
- n.setKSearch(KSearch); // Use 10 nearest neighbors to estimate the normals
-
- //estimate
- n.setInputCloud(cloud.makeShared());
- n.compute(*output);
-
- pcl::concatenateFields (cloud, *output, *cloud_out);
-
-
-
- float e=0.0;
-
- *cloud_obs=*cloud_out;
-
- for (size_t rowIndex=0, pointIndex=0; rowIndex<cloud_out->height; ++rowIndex)
- {
- for (size_t colIndex=0; colIndex<cloud_out->width; ++colIndex, ++pointIndex)
- {
- //ROS_ERROR_STREAM(cloud_out->points[pointIndex].normal_z);
- if (cloud_out->points[pointIndex].z > min_dist)
- {
- if (cloud_out->points[pointIndex].normal_z < normal_z &&
- cloud_out->points[pointIndex].normal_y < normal_y &&
- cloud_out->points[pointIndex].normal_x < normal_x)
- {
- cloud_out->points[pointIndex].r=0;
- cloud_out->points[pointIndex].g=255;
- cloud_out->points[pointIndex].b=0;
- cloud_obs->points[pointIndex].x=std::numeric_limits<float>::quiet_NaN();;
- cloud_obs->points[pointIndex].y=std::numeric_limits<float>::quiet_NaN();;
- cloud_obs->points[pointIndex].z=std::numeric_limits<float>::quiet_NaN();;
- }
- else
- {
- cloud_out->points[pointIndex].r=255;
- cloud_out->points[pointIndex].g=0;
- cloud_out->points[pointIndex].b=0;
- //error counter looking a plane without obstacles
- e=e+1.0;
- }
- }
- else
- {
- cloud_out->points[pointIndex].r=0;
- cloud_out->points[pointIndex].g=0;
- cloud_out->points[pointIndex].b=255;
- }
- }
- }
- e=(e/float(cloud_out->width*cloud_out->height))*100;
- //printf("error %f",e);
-}
-
diff --git a/.svn/pristine/18/1889bdbc30453ce7ddc34829b6d785dfe6c21f04.svn-base b/.svn/pristine/18/1889bdbc30453ce7ddc34829b6d785dfe6c21f04.svn-base
deleted file mode 100644
index be42bf97ecaf7ea68eb50433845fbd022d7f3d02..0000000000000000000000000000000000000000
--- a/.svn/pristine/18/1889bdbc30453ce7ddc34829b6d785dfe6c21f04.svn-base
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b iri_obstacle_detection_normals is ...
-
-<!--
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/
diff --git a/.svn/pristine/28/28647fe131daa3e90296c971ffa0f5a8fdd816de.svn-base b/.svn/pristine/28/28647fe131daa3e90296c971ffa0f5a8fdd816de.svn-base
deleted file mode 100644
index 79c3042e70f025d6d012af26a5feb7a9d1433d7e..0000000000000000000000000000000000000000
--- a/.svn/pristine/28/28647fe131daa3e90296c971ffa0f5a8fdd816de.svn-base
+++ /dev/null
@@ -1,161 +0,0 @@
-// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
-// Author
-// All rights reserved.
-//
-// This file is part of iri-ros-pkg
-// iri-ros-pkg is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-// IMPORTANT NOTE: This code has been generated through a script from the
-// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
-// of the scripts. ROS topics can be easly add by using those scripts. Please
-// refer to the IRI wiki page for more information:
-// http://wikiri.upc.es/index.php/Robotics_Lab
-
-#ifndef _obstacle_detection_normals_alg_h_
-#define _obstacle_detection_normals_alg_h_
-
-#include <iri_obstacle_detection_normals/ObstacleDetectionNormalsConfig.h>
-#include "mutex.h"
-
-
-#include <pcl/point_types.h>
-#include <pcl/io/pcd_io.h>
-#include <pcl/features/normal_3d.h>
-#include <pcl/features/integral_image_normal.h>
-#include <pcl/kdtree/kdtree_flann.h>
-#include <pcl/impl/point_types.hpp>
-
-#include <boost/make_shared.hpp>
-
-using namespace pcl;
-using namespace std;
-
-typedef KdTree<PointXYZ>::Ptr KdTreePtr;
-
-//include obstacle_detection_normals_alg main library
-
-/**
- * \brief IRI ROS Specific Driver Class
- *
- *
- */
-class ObstacleDetectionNormalsAlgorithm
-{
- protected:
- /**
- * \brief define config type
- *
- * Define a Config type with the ObstacleDetectionNormalsConfig. All driver implementations
- * will then use the same variable type Config.
- */
- CMutex alg_mutex_;
-
- // private attributes and methods
- int KSearch;
- float normal_z,normal_y,normal_x,min_dist;
-
- KdTreePtr tree;
-
- // pcl::PointCloud<pcl::PointXYZ> cloud;
- // pcl::PointCloud<pcl::PointXYZRGBNormal> cloud_out;
- // pcl::PointCloud<pcl::PointXYZRGBNormal> cloud_obs;
-
-
- public:
- /**
- * \brief define config type
- *
- * Define a Config type with the ObstacleDetectionNormalsConfig. All driver implementations
- * will then use the same variable type Config.
- */
- typedef iri_obstacle_detection_normals::ObstacleDetectionNormalsConfig Config;
-
- /**
- * \brief config variable
- *
- * This variable has all the driver parameters defined in the cfg config file.
- * Is updated everytime function config_update() is called.
- */
- Config config_;
-
- /**
- * \brief constructor
- *
- * In this constructor parameters related to the specific driver can be
- * initalized. Those parameters can be also set in the openDriver() function.
- * Attributes from the main node driver class IriBaseDriver such as loop_rate,
- * may be also overload here.
- */
- ObstacleDetectionNormalsAlgorithm(void);
-
- /**
- * \brief Lock Algorithm
- *
- * Locks access to the Algorithm class
- */
- void lock(void) { alg_mutex_.enter(); };
-
- /**
- * \brief Unlock Algorithm
- *
- * Unlocks access to the Algorithm class
- */
- void unlock(void) { alg_mutex_.exit(); };
-
- /**
- * \brief Tries Access to Algorithm
- *
- * Tries access to Algorithm
- *
- * \return true if the lock was adquired, false otherwise
- */
- bool try_enter(void) { return alg_mutex_.try_enter(); };
-
- /**
- * \brief config update
- *
- * In this function the driver parameters must be updated with the input
- * config variable. Then the new configuration state will be stored in the
- * Config attribute.
- *
- * \param new_cfg the new driver configuration state
- *
- * \param level level in which the update is taken place
- */
- void config_update(Config& new_cfg, uint32_t level=0);
-
- // here define all obstacle_detection_normals_alg interface methods to retrieve and set
- // the driver parameters
-
- /**
- * \brief Destructor
- *
- * This destructor is called when the object is about to be destroyed.
- *
- */
- ~ObstacleDetectionNormalsAlgorithm(void);
-
- // void cloud_all(int KSearch, float normal_z,
- // float normal_y, float normal_x, float min_intens, float min_dist,
- // const pcl::PointCloud<pcl::PointXYZ>& cloud,
- // pcl::PointCloud<pcl::PointXYZRGBNormal>& cloud_out, pcl::PointCloud<pcl::PointXYZRGBNormal>& cloud_obs);
-
- void cloud_all(int KSearch, float normal_z,
- float normal_y, float normal_x, float min_dist,
- const pcl::PointCloud<pcl::PointXYZ>& cloud,
- pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr& cloud_out, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr& cloud_obs);
-
-};
-
-#endif
diff --git a/.svn/pristine/32/324076a9b2f56b1de51ca012ba0f04a96ab540de.svn-base b/.svn/pristine/32/324076a9b2f56b1de51ca012ba0f04a96ab540de.svn-base
deleted file mode 100644
index 23a6d672d9cb54456fca07de5e3e3ff98ec1e2d3..0000000000000000000000000000000000000000
--- a/.svn/pristine/32/324076a9b2f56b1de51ca012ba0f04a96ab540de.svn-base
+++ /dev/null
@@ -1,10 +0,0 @@
-\subsubsection parameters ROS parameters
-
-Reads and maintains the following parameters on the ROS server
-
-- \b "~filter_min_dist" : \b [double] Min distance threshold min: 0.0, default: 0.3, max: 100.0
-- \b "~normal_KSearch" : \b [int] No of neighbors to estimate the surface min: 10, default: 100, max: 200
-- \b "~normal_x" : \b [double] Accepted Normal X component min: -1.0, default: 1.0, max: 1.0
-- \b "~normal_y" : \b [double] Accepted Normal Y component min: -1.0, default: -0.2, max: 1.0
-- \b "~normal_z" : \b [double] Accepted Normal Z component min: -1.0, default: 1.0, max: 1.0
-
diff --git a/.svn/pristine/60/60b100ad44ac66b98c4ec45e97cbde679e94d06b.svn-base b/.svn/pristine/60/60b100ad44ac66b98c4ec45e97cbde679e94d06b.svn-base
deleted file mode 100644
index 99fd62919efc7fd9608ae7a890423758eaca0168..0000000000000000000000000000000000000000
--- a/.svn/pristine/60/60b100ad44ac66b98c4ec45e97cbde679e94d06b.svn-base
+++ /dev/null
@@ -1,11 +0,0 @@
-\subsubsection usage Usage
-\verbatim
-<node name="ObstacleDetectionNormalsAlgorithm" pkg="iri_obstacle_detection_normals" type="ObstacleDetectionNormalsAlgorithm">
- <param name="filter_min_dist" type="double" value="0.3" />
- <param name="normal_KSearch" type="int" value="100" />
- <param name="normal_x" type="double" value="1.0" />
- <param name="normal_y" type="double" value="-0.2" />
- <param name="normal_z" type="double" value="1.0" />
-</node>
-\endverbatim
-
diff --git a/.svn/pristine/64/6458d6d6edbaeb05315cb76e0ddd8ff569d68937.svn-base b/.svn/pristine/64/6458d6d6edbaeb05315cb76e0ddd8ff569d68937.svn-base
deleted file mode 100644
index c8a9472d4191c42cdc3553cfbce2c3f5490f0bde..0000000000000000000000000000000000000000
--- a/.svn/pristine/64/6458d6d6edbaeb05315cb76e0ddd8ff569d68937.svn-base
+++ /dev/null
@@ -1,46 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-set(PROJECT_NAME obstacle_detection_normals_alg_node)
-
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-# added to include support for dynamic reconfiguration
-rosbuild_find_ros_package(dynamic_reconfigure)
-include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
-gencfg()
-# end dynamic reconfiguration
-
-FIND_PACKAGE(iriutils REQUIRED)
-FIND_PACKAGE(PCL 1.4 REQUIRED)
-
-INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ./include ${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-rosbuild_add_executable(${PROJECT_NAME} src/obstacle_detection_normals_alg.cpp src/obstacle_detection_normals_alg_node.cpp)
-
-target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY} ${PCL_LIBRARIES})
diff --git a/.svn/pristine/6c/6cfa2ca439db29dfe2a0f512c0850ab2c7dfafec.svn-base b/.svn/pristine/6c/6cfa2ca439db29dfe2a0f512c0850ab2c7dfafec.svn-base
deleted file mode 100644
index b3c7da610035009cdadd8270592dadbb477ada0f..0000000000000000000000000000000000000000
--- a/.svn/pristine/6c/6cfa2ca439db29dfe2a0f512c0850ab2c7dfafec.svn-base
+++ /dev/null
@@ -1,28 +0,0 @@
-# Autogenerated param section. Do not hand edit.
-param {
-group.0 {
-name=Dynamically Reconfigurable Parameters
-desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
-0.name= ~filter_min_dist
-0.default= 0.3
-0.type= double
-0.desc=Min distance threshold Range: 0.0 to 100.0
-1.name= ~normal_KSearch
-1.default= 100
-1.type= int
-1.desc=No of neighbors to estimate the surface Range: 10 to 200
-2.name= ~normal_x
-2.default= 1.0
-2.type= double
-2.desc=Accepted Normal X component Range: -1.0 to 1.0
-3.name= ~normal_y
-3.default= -0.2
-3.type= double
-3.desc=Accepted Normal Y component Range: -1.0 to 1.0
-4.name= ~normal_z
-4.default= 1.0
-4.type= double
-4.desc=Accepted Normal Z component Range: -1.0 to 1.0
-}
-}
-# End of autogenerated section. You may edit below.
diff --git a/.svn/pristine/71/71bcccd2efe711e112f0e4b8e1c2465a86133a6d.svn-base b/.svn/pristine/71/71bcccd2efe711e112f0e4b8e1c2465a86133a6d.svn-base
deleted file mode 100644
index b75b928f20ef9ea4f509a17db62e4e31b422c27f..0000000000000000000000000000000000000000
--- a/.svn/pristine/71/71bcccd2efe711e112f0e4b8e1c2465a86133a6d.svn-base
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/.svn/pristine/81/8185ede5ce9a8aa852cc3e7d55be131967febd62.svn-base b/.svn/pristine/81/8185ede5ce9a8aa852cc3e7d55be131967febd62.svn-base
deleted file mode 100644
index 2fe14c867478bb7092e03d9085220d7963066e7b..0000000000000000000000000000000000000000
--- a/.svn/pristine/81/8185ede5ce9a8aa852cc3e7d55be131967febd62.svn-base
+++ /dev/null
@@ -1,48 +0,0 @@
-#! /usr/bin/env python
-#* All rights reserved.
-#*
-#* Redistribution and use in source and binary forms, with or without
-#* modification, are permitted provided that the following conditions
-#* are met:
-#*
-#* * Redistributions of source code must retain the above copyright
-#* notice, this list of conditions and the following disclaimer.
-#* * Redistributions in binary form must reproduce the above
-#* copyright notice, this list of conditions and the following
-#* disclaimer in the documentation and/or other materials provided
-#* with the distribution.
-#* * Neither the name of the Willow Garage nor the names of its
-#* contributors may be used to endorse or promote products derived
-#* from this software without specific prior written permission.
-#*
-#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#* POSSIBILITY OF SUCH DAMAGE.
-#***********************************************************
-
-# Author:
-
-PACKAGE='iri_obstacle_detection_normals'
-import roslib; roslib.load_manifest(PACKAGE)
-
-from dynamic_reconfigure.parameter_generator import *
-
-gen = ParameterGenerator()
-
-# Name Type Reconfiguration level Description Default Min Max
-#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
-gen.add( "filter_min_dist", double_t, 0, "Min distance threshold", 0.3, 0, 100)
-gen.add( "normal_KSearch", int_t, 0, "No of neighbors to estimate the surface", 100, 10, 200)
-gen.add( "normal_x", double_t, 0, "Accepted Normal X component", 1, -1, 1)
-gen.add( "normal_y", double_t, 0, "Accepted Normal Y component", -0.2, -1, 1)
-gen.add( "normal_z", double_t, 0, "Accepted Normal Z component", 1, -1, 1)
-exit(gen.generate(PACKAGE, "ObstacleDetectionNormalsAlgorithm", "ObstacleDetectionNormals"))
diff --git a/.svn/pristine/90/906e2a3ef295d209c3e7057a176bd4310937663f.svn-base b/.svn/pristine/90/906e2a3ef295d209c3e7057a176bd4310937663f.svn-base
deleted file mode 100644
index da90fc40acd6563774bf9c993bdd3c22cb02009e..0000000000000000000000000000000000000000
--- a/.svn/pristine/90/906e2a3ef295d209c3e7057a176bd4310937663f.svn-base
+++ /dev/null
@@ -1,133 +0,0 @@
-#include "obstacle_detection_normals_alg_node.h"
-
-ObstacleDetectionNormalsAlgNode::ObstacleDetectionNormalsAlgNode(void) :
- algorithm_base::IriBaseAlgorithm<ObstacleDetectionNormalsAlgorithm>(),KSearch(100),normal_z(1),
- normal_y(-0.2),normal_x(1),min_dist(0.3)
-{
- //init class attributes if necessary
- //this->loop_rate_ = 2;//in [Hz]
-
- // [init publishers]
- this->obstacles_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud>("obstacles", 1);
- this->all_rg_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud2>("all_rg", 1);
-
- // [init subscribers]
- this->input_subscriber_ = this->public_node_handle_.subscribe("input", 1, &ObstacleDetectionNormalsAlgNode::input_callback, this);
-
- // [init services]
-
- // [init clients]
-
- // [init action servers]
-
- // [init action clients]
-}
-
-ObstacleDetectionNormalsAlgNode::~ObstacleDetectionNormalsAlgNode(void)
-{
- // [free dynamic memory]
-}
-
-void ObstacleDetectionNormalsAlgNode::mainNodeThread(void)
-{
- // [fill msg structures]
- //this->PointCloud2_msg_.data = my_var;
-
- // [fill srv structure and make request to the server]
-
- // [fill action structure and make request to the action server]
-
- // [publish messages]
-
-}
-
-/* [subscriber callbacks] */
-void ObstacleDetectionNormalsAlgNode::input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg)
-{
- //ROS_INFO("ObstacleDetectionNormalsAlgNode::input_callback: New Message Received");
-
- // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
- pcl::PointCloud<pcl::PointXYZ> cloud;
-
- // pcl::PointCloud<pcl::PointXYZ> cloud(new pcl::PointCloud<pcl::PointXYZ>());
- pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZRGBNormal>());
- pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_obs(new pcl::PointCloud<pcl::PointXYZRGBNormal>());
-
- pcl::fromROSMsg (*msg, cloud);
-
- // pcl::PointCloud<pcl::PointXYZ> cloud_in;
- // std::vector<int> indices;
- // pcl::removeNaNFromPointCloud (cloud, cloud_in, indices);
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- //use appropiate mutex to shared variables if necessary
- this->alg_.lock();
-
- if (!cloud.empty()){
- obstacle_detect.cloud_all(KSearch, normal_z, normal_y, normal_x, min_dist, cloud, cloud_out, cloud_obs);
- }
- //unlock previously blocked shared variables
- this->alg_.unlock();
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
- // all_rg_msg_.width=msg->width;
- // all_rg_msg_.height=msg->height;
- // all_rg_msg_.is_dense=msg->is_dense;
-
- // obstacles_msg_.header=msg->header;
- // obstacles_msg_.width=msg->width;
- // obstacles_msg_.height=msg->height;
- // obstacles_msg_.is_dense=msg->is_dense;
-
- pcl::toROSMsg (*cloud_out, all_rg_msg_);
- pcl::toROSMsg (*cloud_obs, obstacles_msg_);
-
- sensor_msgs::convertPointCloud2ToPointCloud(obstacles_msg_, obstaclespc_msg_);
-
- all_rg_msg_.header=msg->header;
-
- this->obstacles_publisher_.publish(this->obstaclespc_msg_);
- this->all_rg_publisher_.publish(this->all_rg_msg_);
-
-
- //use appropiate mutex to shared variables if necessary
- //this->alg_.lock();
- //this->input_mutex_.enter();
-
- //std::cout << msg->data << std::endl;
-
- //unlock previously blocked shared variables
- //this->alg_.unlock();
- //this->input_mutex_.exit();
-}
-
-/* [service callbacks] */
-
-/* [action callbacks] */
-
-/* [action requests] */
-
-void ObstacleDetectionNormalsAlgNode::node_config_update(Config &config, uint32_t level)
-{
- this->alg_.lock();
-min_dist=config.filter_min_dist;
-KSearch=config.normal_KSearch;
-normal_z=config.normal_z;
-normal_y=config.normal_y;
-normal_x=config.normal_x;
- this->alg_.unlock();
-}
-
-void ObstacleDetectionNormalsAlgNode::addNodeDiagnostics(void)
-{
-}
-
-
-/* main function */
-int main(int argc,char *argv[])
-{
- return algorithm_base::main<ObstacleDetectionNormalsAlgNode>(argc, argv, "obstacle_detection_normals_alg_node");
-}
diff --git a/.svn/pristine/ad/adcb75c525ca6d00273fb0d373b50c172dab4b9c.svn-base b/.svn/pristine/ad/adcb75c525ca6d00273fb0d373b50c172dab4b9c.svn-base
deleted file mode 100644
index 464eff7908e311eacb16a7c38bb3d2ab7e8ea091..0000000000000000000000000000000000000000
--- a/.svn/pristine/ad/adcb75c525ca6d00273fb0d373b50c172dab4b9c.svn-base
+++ /dev/null
@@ -1,17 +0,0 @@
-<package>
- <description brief="iri_obstacle_detection_normals">
-
- iri_obstacle_detection_normals
-
- </description>
- <author>asantamaria</author>
- <license>LGPL</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/iri_obstacle_detection_normals</url>
- <depend package="roscpp"/>
- <depend package="iri_base_algorithm"/>
- <depend package="sensor_msgs"/>
- <depend package="pcl_ros"/>
-</package>
-
-
diff --git a/.svn/pristine/ed/ed15466727c1a5ecc8d3c57171097494a531d9ca.svn-base b/.svn/pristine/ed/ed15466727c1a5ecc8d3c57171097494a531d9ca.svn-base
deleted file mode 100644
index 8bc2c849c9ee5a44a3e5b5704d67f81bd97875da..0000000000000000000000000000000000000000
--- a/.svn/pristine/ed/ed15466727c1a5ecc8d3c57171097494a531d9ca.svn-base
+++ /dev/null
@@ -1,143 +0,0 @@
-// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
-// Author
-// All rights reserved.
-//
-// This file is part of iri-ros-pkg
-// iri-ros-pkg is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-// IMPORTANT NOTE: This code has been generated through a script from the
-// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
-// of the scripts. ROS topics can be easly add by using those scripts. Please
-// refer to the IRI wiki page for more information:
-// http://wikiri.upc.es/index.php/Robotics_Lab
-
-#ifndef _obstacle_detection_normals_alg_node_h_
-#define _obstacle_detection_normals_alg_node_h_
-
-#include <iri_base_algorithm/iri_base_algorithm.h>
-#include "obstacle_detection_normals_alg.h"
-
-#include <ros/ros.h>
-
-#include <pcl_ros/point_cloud.h>
-#include <pcl/ros/conversions.h>
-#include <pcl/point_types.h>
-#include <pcl/filters/filter.h>
-
-
-// [publisher subscriber headers]
-#include <sensor_msgs/PointCloud2.h>
-#include <sensor_msgs/PointCloud.h>
-#include <sensor_msgs/point_cloud_conversion.h>
-// [service client headers]
-
-// [action server client headers]
-
-using namespace std;
-
-
-/**
- * \brief IRI ROS Specific Algorithm Class
- *
- */
-class ObstacleDetectionNormalsAlgNode : public algorithm_base::IriBaseAlgorithm<ObstacleDetectionNormalsAlgorithm>
-{
- private:
-
- int KSearch;
- float normal_z,normal_y,normal_x,min_dist;
-
- // [publisher attributes]
- ros::Publisher obstacles_publisher_;
- ros::Publisher all_rg_publisher_;
- sensor_msgs::PointCloud2 obstacles_msg_;
- sensor_msgs::PointCloud obstaclespc_msg_;
- sensor_msgs::PointCloud2 all_rg_msg_;
-
-
-
- // [subscriber attributes]
- ros::Subscriber input_subscriber_;
- void input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
- CMutex input_mutex_;
-
- // [service attributes]
-
- // [client attributes]
-
- // [action server attributes]
- ObstacleDetectionNormalsAlgorithm obstacle_detect;
- // [action client attributes]
-
- public:
- /**
- * \brief Constructor
- *
- * This constructor initializes specific class attributes and all ROS
- * communications variables to enable message exchange.
- */
- ObstacleDetectionNormalsAlgNode(void);
-
- /**
- * \brief Destructor
- *
- * This destructor frees all necessary dynamic memory allocated within this
- * this class.
- */
- ~ObstacleDetectionNormalsAlgNode(void);
-
- protected:
- /**
- * \brief main node thread
- *
- * This is the main thread node function. Code written here will be executed
- * in every node loop while the algorithm is on running state. Loop frequency
- * can be tuned by modifying loop_rate attribute.
- *
- * Here data related to the process loop or to ROS topics (mainly data structs
- * related to the MSG and SRV files) must be updated. ROS publisher objects
- * must publish their data in this process. ROS client servers may also
- * request data to the corresponding server topics.
- */
- void mainNodeThread(void);
-
- /**
- * \brief dynamic reconfigure server callback
- *
- * This method is called whenever a new configuration is received through
- * the dynamic reconfigure. The derivated generic algorithm class must
- * implement it.
- *
- * \param config an object with new configuration from all algorithm
- * parameters defined in the config file.
- * \param level integer referring the level in which the configuration
- * has been changed.
- */
- void node_config_update(Config &config, uint32_t level);
-
- /**
- * \brief node add diagnostics
- *
- * In this abstract function additional ROS diagnostics applied to the
- * specific algorithms may be added.
- */
- void addNodeDiagnostics(void);
-
- // [diagnostic functions]
-
- // [test functions]
-
-};
-
-#endif
diff --git a/.svn/wc.db b/.svn/wc.db
deleted file mode 100644
index 4a602a3ef2768a3b1ab2d68637da2e621a3fd8e8..0000000000000000000000000000000000000000
Binary files a/.svn/wc.db and /dev/null differ
diff --git a/.svn/wc.db-journal b/.svn/wc.db-journal
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/Makefile b/Makefile
deleted file mode 100644
index b75b928f20ef9ea4f509a17db62e4e31b422c27f..0000000000000000000000000000000000000000
--- a/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/mainpage.dox b/mainpage.dox
deleted file mode 100644
index be42bf97ecaf7ea68eb50433845fbd022d7f3d02..0000000000000000000000000000000000000000
--- a/mainpage.dox
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b iri_obstacle_detection_normals is ...
-
-<!--
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/