// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_GRID_SAMPLER_H_
#define JSK_PCL_ROS_GRID_SAMPLER_H_

#include <pcl_ros/pcl_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros/ClusterPointIndices.h>
#include <sensor_msgs/PointCloud2.h>

#include <jsk_pcl_ros/GridSamplerConfig.h>
#include "jsk_pcl_ros/connection_based_nodelet.h"

namespace jsk_pcl_ros
{
  class GridSampler: public ConnectionBasedNodelet
  {
  public:
    typedef jsk_pcl_ros::GridSamplerConfig Config;
  protected:
    virtual void onInit();
    virtual void sample(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void configCallback(Config &config, uint32_t level);
    virtual void subscribe();
    virtual void unsubscribe();
    boost::mutex mutex_;
    double grid_size_;
    int min_indices_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
  private:
    
  }; 
}

#endif
