builder_plugin.h

Go to the documentation of this file.

#ifndef ED_BUILDER_PLUGIN_H_
#define ED_BUILDER_PLUGIN_H_
 
#include <ed/plugin.h>
 
#include <ed/types.h>
 
// Communication
#include <ros/callback_queue.h>
#include <ros/service_server.h>
#include <ros/publisher.h>
 
// Configuration
#include <tue/config/configuration.h>
 
// Services
#include <ed_msgs/SetEntity.h>
 
class BuilderPlugin : public ed::Plugin
{
 
public:
 
    BuilderPlugin();
 
    virtual ~BuilderPlugin();
 
    void configure(tue::Configuration config);
 
    void initialize();
 
    void process(const ed::WorldModel& world, ed::UpdateRequest& req);
 
private:
 
    const ed::WorldModel* world_model_;
 
    ed::UpdateRequest* update_req_;
 
    // Communication
 
    ros::CallbackQueue cb_queue_;
 
    ros::ServiceServer srv_set_entity_;
 
 
    bool srvSetEntity(ed_msgs::SetEntity::Request& req, ed_msgs::SetEntity::Response& res);
 
};
 
#endif