Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * pointcloud.h - PointCloud aspect for Fawkes 00004 * 00005 * Created: Sun Nov 06 22:44:26 2011 00006 * Copyright 2011 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __ASPECT_POINTCLOUD_H_ 00025 #define __ASPECT_POINTCLOUD_H_ 00026 00027 #include <aspect/aspect.h> 00028 #include <aspect/pointcloud/pointcloud_manager.h> 00029 00030 namespace pcl { 00031 template <typename PointT> 00032 class PointCloud; 00033 } 00034 00035 namespace fawkes { 00036 #if 0 /* just to make Emacs auto-indent happy */ 00037 } 00038 #endif 00039 00040 class PointCloudAspect : public virtual Aspect 00041 { 00042 public: 00043 PointCloudAspect(); 00044 virtual ~PointCloudAspect(); 00045 00046 void init_PointCloudAspect(PointCloudManager *pcl_manager); 00047 00048 protected: 00049 /** Manager to distribute and access point clouds. */ 00050 PointCloudManager *pcl_manager; 00051 }; 00052 00053 } // end namespace fawkes 00054 00055 #endif