voxel_cloud_node.hpp

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// Copyright 2017-2019 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
#ifndef VOXEL_GRID_NODES__VOXEL_CLOUD_NODE_HPP_
#define VOXEL_GRID_NODES__VOXEL_CLOUD_NODE_HPP_
 
#include <voxel_grid_nodes/algorithm/voxel_cloud_base.hpp>
#include <rclcpp/rclcpp.hpp>
#include <common/types.hpp>
#include <memory>
#include <string>
 
using autoware::common::types::bool8_t;
 
namespace autoware
{
namespace perception
{
namespace filters
{
namespace voxel_grid_nodes
{
rmw_qos_durability_policy_t parse_durability_parameter(
  const std::string & durability);
 
class VOXEL_GRID_NODES_PUBLIC VoxelCloudNode : public rclcpp::Node
{
public:
  VoxelCloudNode(
    const rclcpp::NodeOptions & node_options);
 
  void callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
 
private:
  void VOXEL_GRID_NODES_LOCAL init(const voxel_grid::Config & cfg, const bool8_t is_approximate);
 
  using Message = sensor_msgs::msg::PointCloud2;
 
  const rclcpp::Subscription<Message>::SharedPtr m_sub_ptr;
  const std::shared_ptr<rclcpp::Publisher<Message>> m_pub_ptr;
  std::unique_ptr<algorithm::VoxelCloudBase> m_voxelgrid_ptr;
  bool8_t m_has_failed;
};  // VoxelCloudNode
}  // namespace voxel_grid_nodes
}  // namespace filters
}  // namespace perception
}  // namespace autoware
 
#endif  // VOXEL_GRID_NODES__VOXEL_CLOUD_NODE_HPP_