probe.h

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#ifndef ED_PROBE_H_
#define ED_PROBE_H_
 
#include "ed/plugin.h"
 
#include <tue/config/configuration.h>
#include <tue/serialization/input_archive.h>
#include <tue/serialization/output_archive.h>
 
#include <tue_serialization/BinaryService.h>
 
#include <ros/callback_queue.h>
#include <ros/service_server.h>
 
namespace ed
{
 
class Probe : public Plugin
{
 
public:
 
    Probe();
 
    virtual ~Probe();
 
 
    // Plugin interface
 
    void initialize();
 
    void process(const WorldModel& world, UpdateRequest& req);
 
 
    // Probe interface
 
    virtual void configure(tue::Configuration /*config*/) {}
 
    using Plugin::process;
 
    virtual void process(const WorldModel& /*world*/,
                         UpdateRequest& /*update*/,
                         tue::serialization::InputArchive& /*req*/,
                         tue::serialization::OutputArchive& /*res*/) {}
 
private:
 
    const ed::WorldModel* world_;
    ed::UpdateRequest* update_req_;
 
    ros::CallbackQueue cb_queue_;
 
    ros::ServiceServer srv_;
 
    bool srvCallback(const tue_serialization::BinaryService::Request& ros_req,
                     tue_serialization::BinaryService::Response& ros_res);
 
};
 
}
 
#endif