HLR  0.0.1
PointCloudHandler.hpp
1 #ifndef KINEMATICS_POINTCLOUDHANDLER_HPP
2 #define KINEMATICS_POINTCLOUDHANDLER_HPP
3 
4 #include <ros/ros.h>
5 #include "HLR/Object.h"
6 #include "RobotController.hpp"
7 
8 namespace HLR
9 {
10 namespace Kinematics
11 {
16 {
17 public:
27 
29  virtual ~PointCloudHandler() = default;
30 
35  PointCloudHandler(const PointCloudHandler& pch) = delete;
36 
41  PointCloudHandler(PointCloudHandler&& pch) = delete;
42 
48  PointCloudHandler& operator=(const PointCloudHandler& pch) = delete;
49 
56 
57 private:
64  void handle_object(const HLR::Object::ConstPtr& obj);
65 
69  ros::NodeHandle nh;
70 
74  ros::Subscriber world_changes;
75 
80  RobotController& controller;
81 };
82 
83 } // namespace Kinematics
84 } // namespace HLR
85 
86 #endif
PointCloudHandler & operator=(const PointCloudHandler &pch)=delete
Copy assignment operator, deleted.
Concrete handle on the robot using the ROS interface.
Definition: PointCloudHandler.hpp:15
This class contains the main logic of the robotic arm. It handles the calculation of robotic path and...
Definition: RobotController.hpp:139
virtual ~PointCloudHandler()=default
Destructor.
PointCloudHandler(RobotController &controller)
Constructor.