24 #ifndef _PLUGINS_LASER_FILTER_FILTERS_BOX_FILTER_H_ 25 #define _PLUGINS_LASER_FILTER_FILTERS_BOX_FILTER_H_ 32 #include <aspect/blackboard.h> 33 #include <aspect/configurable.h> 34 #include <aspect/logging.h> 35 #include <aspect/tf.h> 36 #include <core/threading/thread.h> 37 #include <interfaces/LaserBoxFilterInterface.h> 44 float x = 0.0, y = 0.0;
57 std::string frame_map_;
58 float cfg_occupied_thresh_;
63 std::vector<LaserDataFilter::Buffer *> &
in,
72 std::vector<Box> boxes_;
73 bool point_in_rectangle(
float x,
float y);
74 Vector d_vec(Vector p1, Vector p2);
75 inline double dot(Vector u, Vector v);
LaserBoxFilterDataFilter(const std::string &filter_name, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in, fawkes::tf::Transformer *tf_listener, fawkes::Configuration *config, fawkes::Logger *logger, fawkes::BlackBoard *blackboard)
Constructor.
Logger * logger
This is the Logger member used to access the logger.
LaserBoxFilterInterface Fawkes BlackBoard Interface.
virtual void filter()
Filter the incoming data.
Thread aspect to log output.
Removes laser data which is represented by a set of boxes.
std::string filter_name
Name of the specific filter instance.
The BlackBoard abstract class.
Interface for configuration handling.
std::vector< Buffer * > in
Vector of input arrays.
unsigned int in_data_size
Number of entries in input arrays.