Removed all the old SVN files.

.svn/entries

-12

.svn/format

-12

.svn/pristine/03/034503d8de6d1e291d61d80180160aaa930b1078.svn-base

-#! /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_hole_detection'
-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(            "hole_min_p",  int_t,     0,             "No of Points to be hole (less points is a hole)",   30,       5,  200)
-gen.add(           "box_x",  double_t,  0,                              "X distance hole detection zone",  0.6,        0,  1.5)
-gen.add(           "box_y_ini",  double_t,  0,                              "Y distance hole detection zone", 0,     -0.5,    0.5)
-gen.add(            "box_y_end",  double_t,  0,                               "Initial Y hole detection zone",    0.1,     -0.5,  0.5)
-gen.add(            "box_z_ini",  double_t,  0,                               "Initial Z hole detection zone",    0.8,      0,    2)
-gen.add(           "box_z_end",  double_t,  0,                              "Z distance hole detection zone",  0.9,        0.5,    2)
-
-
-
-exit(gen.generate(PACKAGE, "HoleDetectionAlgorithm", "HoleDetection"))

.svn/pristine/19/1978df7856af4709da5e821ec14e43f9884a0dca.svn-base

-\subsubsection parameters ROS parameters
-
-Reads and maintains the following parameters on the ROS server
-
-- \b "~hole_min_p" : \b [int] No of Points to be hole (less points is a hole) min: 5, default: 30, max: 200
-- \b "~box_x" : \b [double] X distance hole detection zone min: 0.0, default: 0.6, max: 1.5
-- \b "~box_y_ini" : \b [double] Y distance hole detection zone min: -0.5, default: 0.0, max: 0.5
-- \b "~box_y_end" : \b [double] Initial Y hole detection zone min: -0.5, default: 0.1, max: 0.5
-- \b "~box_z_ini" : \b [double] Initial Z hole detection zone min: 0.0, default: 0.8, max: 2.0
-- \b "~box_z_end" : \b [double] Z distance hole detection zone min: 0.5, default: 0.9, max: 2.0
-

.svn/pristine/4c/4c66109c45be5a80a3f9f6f26f0b7c1584c2cf15.svn-base

-#include "hole_detection_alg_node.h"
-
-HoleDetectionAlgNode::HoleDetectionAlgNode(void) :
-  algorithm_base::IriBaseAlgorithm<HoleDetectionAlgorithm>(),hole_min_p(60),box_y_end(0),box_z_ini(1),
-  box_y_ini(-0.1),box_z_end(1.8),box_x(0.9)
-{
-  //init class attributes if necessary
-  //this->loop_rate_ = 2;//in [Hz]
-
-  // [init publishers]
-  this->hole_obstacle_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud>("hole_obstacle", 10);
-  this->hole_all_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud2>("hole_zone", 10);
-  // [init subscribers]
-  this->input_subscriber_ = this->public_node_handle_.subscribe("input", 10, &HoleDetectionAlgNode::input_callback, this);
- 
-	
-  // [init services]
-  
-  // [init clients]
-  
-  // [init action servers]
-  
-  // [init action clients]
-}
-
-HoleDetectionAlgNode::~HoleDetectionAlgNode(void)
-{
-  // [free dynamic memory]
-}
-
-void HoleDetectionAlgNode::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]
-}
-//PointCloud2_msg_
-/*  [subscriber callbacks] */
-void HoleDetectionAlgNode::input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg) 
-{ 
-  ROS_INFO("HoleDetectionAlgNode::input_callback: New Message Received"); 
-
-
-
-  pcl::fromROSMsg (*msg, cloud_in);
-
-/////////////////////////////////////////////////////////////////////////////////////
-  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_for (new pcl::PointCloud<pcl::PointXYZ>);
-  cloud_for->header.frame_id = cloud_in.header.frame_id;
-  cloud_for->is_dense=false;
-  cloud_for->header.stamp = ros::Time::now ();
-/////////////////////////////////////////////////////////////////////////////////////
-  
- //use appropiate mutex to shared variables if necessary 
- 
-  this->alg_.lock(); 
-
-  cloud_in_rgb.points.resize(cloud_in.size());
-  for (size_t i = 0; i < cloud_in.points.size(); i++) {
-    cloud_in_rgb.points[i].x = cloud_in.points[i].x;
-    cloud_in_rgb.points[i].y = cloud_in.points[i].y;
-    cloud_in_rgb.points[i].z = cloud_in.points[i].z;
-    cloud_in_rgb.points[i].r = 0;
-    cloud_in_rgb.points[i].g = 0;
-    cloud_in_rgb.points[i].b = 0;
-  }
-  cloud_in_rgb.header.frame_id = cloud_in.header.frame_id;
-  cloud_in_rgb.height = cloud_in.height;
-  cloud_in_rgb.width = cloud_in.width;
-  // cloud_in_rgb.fields=
-  // cloud_in_rgb.is_bigendian=
-  // cloud_in_rgb.point_step=
-  // cloud_in_rgb.row_step=
-  // cloud_in_rgb.is_dense=
-
-  cloud_in_rgb.is_dense=false;
-  cloud_in_rgb.header.stamp = ros::Time::now ();
-
-  hole_detect.cloud_all(hole_min_p, box_y_end, box_z_ini, box_x, box_y_ini, box_z_end, Xl, Xc, Xr, Y, cloud_in_rgb, cloud_for);
-  //unlock previously blocked shared variables 
-  this->alg_.unlock();  
-  
-///////////////////////////////////////////////////////////////////////////////////////
-
- 	pcl::toROSMsg (*cloud_for, PointCloud2_msg_);
-  pcl::toROSMsg (cloud_in_rgb, PointCloud2_msg_all);
-  
-  sensor_msgs::convertPointCloud2ToPointCloud(PointCloud2_msg_, PointCloud_msg_);
-
-  
-  this->hole_obstacle_publisher_.publish(this->PointCloud_msg_);
-  this->hole_all_publisher_.publish(this->PointCloud2_msg_all);
-  
-  //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 HoleDetectionAlgNode::node_config_update(Config &config, uint32_t level)
-{
-  this->alg_.lock();
-hole_min_p=config.hole_min_p;
-box_y_end=config.box_y_end;
-box_z_ini=config.box_z_ini;
-box_z_end=config.box_z_end;
-box_y_ini=config.box_y_ini;
-box_x=config.box_x;
-  this->alg_.unlock();
-}
-
-void HoleDetectionAlgNode::addNodeDiagnostics(void)
-{
-}
-
-/* main function */
-int main(int argc,char *argv[])
-{
-  return algorithm_base::main<HoleDetectionAlgNode>(argc, argv, "hole_detection_alg_node");
-}

.svn/pristine/4f/4fde0d083eff790481d78aef523f9ecb46456cf1.svn-base

-# 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= ~hole_min_p
-0.default= 30
-0.type= int
-0.desc=No of Points to be hole (less points is a hole) Range: 5 to 200
-1.name= ~box_x
-1.default= 0.6
-1.type= double
-1.desc=X distance hole detection zone Range: 0.0 to 1.5
-2.name= ~box_y_ini
-2.default= 0.0
-2.type= double
-2.desc=Y distance hole detection zone Range: -0.5 to 0.5
-3.name= ~box_y_end
-3.default= 0.1
-3.type= double
-3.desc=Initial Y hole detection zone Range: -0.5 to 0.5
-4.name= ~box_z_ini
-4.default= 0.8
-4.type= double
-4.desc=Initial Z hole detection zone Range: 0.0 to 2.0
-5.name= ~box_z_end
-5.default= 0.9
-5.type= double
-5.desc=Z distance hole detection zone Range: 0.5 to 2.0
-}
-}
-# End of autogenerated section. You may edit below.

.svn/pristine/5f/5fd21080e7e0887f27d44d491be4fa1c7e814e69.svn-base

-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-set(PROJECT_NAME hole_detection_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)
-
-INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ./include)
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${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(${PROJECT_NAME} src/hole_detection_alg.cpp src/hole_detection_alg_node.cpp)
-
-target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})

.svn/pristine/6b/6b1a5374f47019762a151de51830bad60889affb.svn-base

-#include "hole_detection_alg.h"
-using namespace std;
-
-HoleDetectionAlgorithm::HoleDetectionAlgorithm(void)
-{
-}
-
-HoleDetectionAlgorithm::~HoleDetectionAlgorithm(void)
-{
-}
-
-void HoleDetectionAlgorithm::config_update(Config& new_cfg, uint32_t level)
-{
-  this->lock();
-
-  // save the current configuration
-  this->config_=new_cfg;
-  
-  this->unlock();
-}
-
-// HoleDetectionAlgorithm Public API
-
-void HoleDetectionAlgorithm::cloud_all(int hole_min_p, float box_y_end, float box_z_ini, 
-               float box_x, float box_y_ini, float box_z_end, 
-               float Xl, float Xc, float Xr, float Y, 
-               pcl::PointCloud<pcl::PointXYZRGB>& cloud_in, 
-               pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud_for)
-{
-int l=0;
-int c=0;
-int r=0;
-
-
-for (size_t rowIndex=0, pointIndex=0; rowIndex<cloud_in.height; ++rowIndex)
-{
-  for (size_t colIndex=0; colIndex<cloud_in.width; ++colIndex, ++pointIndex)
-  {
-    if (box_y_ini < cloud_in.points[pointIndex].y && 
-      cloud_in.points[pointIndex].y < box_y_end && 
-      box_z_ini < cloud_in.points[pointIndex].z && 
-      cloud_in.points[pointIndex].z < box_z_end)
-    {
-      if (-(box_x/2) < cloud_in.points[pointIndex].x && 
-        cloud_in.points[pointIndex].x < ((box_x/3)-(box_x/2)))
-      {
-        cloud_in.points[pointIndex].r=0;
-        cloud_in.points[pointIndex].g=0;
-        cloud_in.points[pointIndex].b=255;
-        l=l+1;
-      }
-      if (((box_x/3)-(box_x/2)) < cloud_in.points[pointIndex].x && 
-        cloud_in.points[pointIndex].x < ((box_x/2)-(box_x/3)))
-      {
-        cloud_in.points[pointIndex].r=0;
-        cloud_in.points[pointIndex].g=255;
-        cloud_in.points[pointIndex].b=255;
-        c=c+1;
-      }
-      if (((box_x/2)-(box_x/3)) < cloud_in.points[pointIndex].x && 
-        cloud_in.points[pointIndex].x < (box_x/2))
-      {
-        cloud_in.points[pointIndex].r=0;
-        cloud_in.points[pointIndex].g=127;
-        cloud_in.points[pointIndex].b=255;
-        r=r+1;
-      }
-    }
-  }
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// Hole Point Cloud
-//////////////////////////////////////////////////////////////////////////////
-
-
-Y=-0.1;
-
-for (size_t rowIndex=0, pointIndex=0; rowIndex<5; ++rowIndex)
-{
-  Xl= -(box_x/2);
-  Xc= ((box_x/3)-(box_x/2));
-  Xr= ((box_x/2)-(box_x/3));
-  for (size_t colIndex=0; colIndex<5; ++colIndex, ++pointIndex)
-        {
-    if (l<hole_min_p)
-    {
-      cloud_for->points.push_back (pcl::PointXYZ(Xl+0.05, Y, box_z_ini));
-      Xl=Xl+0.05;
-    }
-    if (c<hole_min_p)
-    {
-      cloud_for->points.push_back (pcl::PointXYZ(Xc+0.05, Y, box_z_ini));
-      Xc=Xc+0.05;
-    }
-    if (r<hole_min_p)
-    {
-      cloud_for->points.push_back (pcl::PointXYZ(Xr+0.05, Y, box_z_ini));
-      Xr=Xr+0.05;
-    }
-  }
-  Y=Y-0.05;
-}
-
-}
\ No newline at end of file

.svn/pristine/83/835c28c1892b24fa882e60d2a386c7026074bb1e.svn-base

-// 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 _hole_detection_alg_h_
-#define _hole_detection_alg_h_
-
-#include <iri_hole_detection/HoleDetectionConfig.h>
-#include "mutex.h"
-
-#include <pcl_ros/point_cloud.h>
-#include <pcl/ros/conversions.h>
-#include <pcl/point_types.h>
-#include <pcl/impl/point_types.hpp>
-
-
-using namespace pcl;
-using namespace std;
-//include hole_detection_alg main library
-
-/**
- * \brief IRI ROS Specific Driver Class
- *
- *
- */
-class HoleDetectionAlgorithm
-{
-  protected:
-   /**
-    * \brief define config type
-    *
-    * Define a Config type with the HoleDetectionConfig. All driver implementations
-    * will then use the same variable type Config.
-    */
-    CMutex alg_mutex_;
-
-    // private attributes and methods
-    int hole_min_p; 
-    float box_y_end,box_z_ini,box_x,box_y_ini,box_z_end,Xl,Xc,Xr,Y;
-    pcl::PointCloud<pcl::PointXYZRGB> cloud_in;
-    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_for;   
-  public:
-   /**
-    * \brief define config type
-    *
-    * Define a Config type with the HoleDetectionConfig. All driver implementations
-    * will then use the same variable type Config.
-    */
-    typedef iri_hole_detection::HoleDetectionConfig 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.
-    */
-    HoleDetectionAlgorithm(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 hole_detection_alg interface methods to retrieve and set
-    // the driver parameters
-
-   /**
-    * \brief Destructor
-    *
-    * This destructor is called when the object is about to be destroyed.
-    *
-    */
-    ~HoleDetectionAlgorithm(void);
-    
-     void cloud_all(int hole_min_p, float box_y_end, float box_z_ini, 
-                    float box_x, float box_y_ini, float box_z_end, 
-                    float Xl, float Xc, float Xr, float Y, 
-                    pcl::PointCloud<pcl::PointXYZRGB>& cloud_in, 
-                    pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud_out);    
-       
-};
-
-#endif

.svn/pristine/93/9330238c41fce7bc267dc81e03df00c1ba0f1f1f.svn-base

-\subsubsection usage Usage
-\verbatim
-<node name="HoleDetectionAlgorithm" pkg="iri_hole_detection" type="HoleDetectionAlgorithm">
-  <param name="hole_min_p" type="int" value="30" />
-  <param name="box_x" type="double" value="0.6" />
-  <param name="box_y_ini" type="double" value="0.0" />
-  <param name="box_y_end" type="double" value="0.1" />
-  <param name="box_z_ini" type="double" value="0.8" />
-  <param name="box_z_end" type="double" value="0.9" />
-</node>
-\endverbatim
-

.svn/pristine/a6/a6f3057559b8184ac094cb3debde5ac0e5b63b1f.svn-base

-<package>
-  <description brief="iri_hole_detection">
-
-     iri_hole_detection
-
-  </description>
-  <author>asantamaria</author>
-  <license>LGPL</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/iri_hole_detection</url>
-  <depend package="roscpp"/>
-  <depend package="iri_base_algorithm"/>
-  <depend package="sensor_msgs"/>
-  <depend package="pcl_ros"/>
-</package>
-
-

.svn/pristine/d1/d19fdb4bb580a6e10a1dd499866acd3a86501c42.svn-base

-// 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 _hole_detection_alg_node_h_
-#define _hole_detection_alg_node_h_
-
-#include <iri_base_algorithm/iri_base_algorithm.h>
-#include "hole_detection_alg.h"
-
-#include <ros/ros.h>
-//#include <ros/publisher.h>
-
-#include <pcl_ros/point_cloud.h>
-#include <pcl/ros/conversions.h>
-#include <pcl/point_types.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 HoleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<HoleDetectionAlgorithm>
-{
-  private:
-		
-		int hole_min_p;
-    float box_y_end,box_z_ini,box_y_ini,box_z_end,box_x,Xl,Xc,Xr,Y;
-//    bool L,C,R;
-		
-    // [publisher attributes]
-    ros::Publisher hole_obstacle_publisher_;
-    sensor_msgs::PointCloud2 PointCloud2_msg_;
-    sensor_msgs::PointCloud PointCloud_msg_;    
-
-
-    ros::Publisher hole_all_publisher_;    
-    sensor_msgs::PointCloud2 PointCloud2_msg_all;
-    pcl::PointCloud<pcl::PointXYZ> cloud_in;
-    pcl::PointCloud<pcl::PointXYZRGB> cloud_in_rgb;
-        
-    // [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]
-    HoleDetectionAlgorithm hole_detect;
-    // [action client attributes]
-
-  public:
-   /**
-    * \brief Constructor
-    * 
-    * This constructor initializes specific class attributes and all ROS
-    * communications variables to enable message exchange.
-    */
-    HoleDetectionAlgNode(void);
-
-   /**
-    * \brief Destructor
-    * 
-    * This destructor frees all necessary dynamic memory allocated within this
-    * this class.
-    */
-    ~HoleDetectionAlgNode(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

.svn/pristine/ee/ee6111b4a20dffe9d1f790538215cb5b823a9ff9.svn-base

-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b iri_hole_detection 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.
--->
-
-
-*/