laser_plugin.h

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#ifndef ED_SENSOR_INTEGRATION_LASER_PLUGIN_H_
#define ED_SENSOR_INTEGRATION_LASER_PLUGIN_H_
 
#include "ed/laser/updater.h"
 
#include <ed/plugin.h>
#include <ed/convex_hull.h>
 
#include <geolib/sensors/LaserRangeFinder.h>
 
#include <ros/subscriber.h>
#include <ros/callback_queue.h>
#include <sensor_msgs/LaserScan.h>
 
#include <queue>
#include <map>
#include <memory>
 
class LaserPlugin : public ed::Plugin
{
 
public:
 
    LaserPlugin();
 
    virtual ~LaserPlugin();
 
    // initialise plugin
    void initialize(ed::InitData& init);
 
    // process plugin
    void process(const ed::WorldModel& world, ed::UpdateRequest& req);
 
private:
    ros::CallbackQueue cb_queue_;
 
    ros::Subscriber sub_scan_;
 
    std::queue<sensor_msgs::LaserScan::ConstPtr> scan_buffer_;
 
    LaserUpdater updater_;
 
    void scanCallback(const sensor_msgs::LaserScan::ConstPtr& msg);
 
    void update(const ed::WorldModel& world, const sensor_msgs::LaserScan::ConstPtr& scan,
                const geo::Pose3D& sensor_pose, ed::UpdateRequest& req);
};
 
 
#endif