77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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/*
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* Author: Paul Bovbel
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*/
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#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
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#include <nodelet/nodelet.h>
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namespace pointcloud_to_laserscan
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{
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class PointCloudToLaserScanNodelet : public nodelet::Nodelet
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{
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public:
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PointCloudToLaserScanNodelet() {};
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~PointCloudToLaserScanNodelet() {}
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private:
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virtual void onInit()
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{
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bool use_concurrency;
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getPrivateNodeHandle().param<bool>("use_concurrency", use_concurrency, false);
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if(use_concurrency){
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cloud_to_scan.reset(new PointCloudToLaserScanBase(getMTNodeHandle(), getPrivateNodeHandle()));
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}else{
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cloud_to_scan.reset(new PointCloudToLaserScanBase(getNodeHandle(), getPrivateNodeHandle()));
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}
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};
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boost::shared_ptr<PointCloudToLaserScanBase> cloud_to_scan;
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};
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}
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#include <pluginlib/class_list_macros.h>
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PLUGINLIB_DECLARE_CLASS(pointcloud_to_laserscan, PointCloudToLaserScanNodelet, pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet);
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