PointCloudHandler.hpp

#ifndef KINEMATICS_POINTCLOUDHANDLER_HPP
#define KINEMATICS_POINTCLOUDHANDLER_HPP

#include <ros/ros.h>
#include "HLR/Object.h"
#include "RobotController.hpp"

namespace HLR
{
namespace Kinematics
{
class PointCloudHandler
{
public:
    PointCloudHandler(RobotController& controller);

    virtual ~PointCloudHandler() = default;

    PointCloudHandler(const PointCloudHandler& pch) = delete;

    PointCloudHandler(PointCloudHandler&& pch) = delete;

    PointCloudHandler& operator=(const PointCloudHandler& pch) = delete;

    PointCloudHandler& operator=(PointCloudHandler&& pch) = delete;

private:
    void handle_object(const HLR::Object::ConstPtr& obj);

    ros::NodeHandle nh;

    ros::Subscriber world_changes;

    RobotController& controller;
};

} // namespace Kinematics
} // namespace HLR

#endif