// -*- mode: C++ -*-
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 * Software License Agreement (BSD License)
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 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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#ifndef JSK_PCL_ROS_POLYGON_APPENDER_H_
#define JSK_PCL_ROS_POLYGON_APPENDER_H_

#include <jsk_pcl_ros/PolygonArray.h>
#include <jsk_pcl_ros/ModelCoefficientsArray.h>
#include <pcl_ros/pcl_nodelet.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include "jsk_pcl_ros/connection_based_nodelet.h"

namespace jsk_pcl_ros
{
  class PolygonAppender: public ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    PolygonArray, ModelCoefficientsArray,
    PolygonArray, ModelCoefficientsArray> SyncPolicy2;
    
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void appendAndPublish(
      const std::vector<PolygonArray::ConstPtr>& arrays,
      const std::vector<ModelCoefficientsArray::ConstPtr>& coefficients_array);
    virtual void callback2(const PolygonArray::ConstPtr& msg0,
                           const ModelCoefficientsArray::ConstPtr& coefficients0,
                           const PolygonArray::ConstPtr& msg1,
                           const ModelCoefficientsArray::ConstPtr& coefficients1);
    
    message_filters::Subscriber<PolygonArray> sub_polygon0_;
    message_filters::Subscriber<PolygonArray> sub_polygon1_;
    message_filters::Subscriber<ModelCoefficientsArray> sub_coefficients0_;
    message_filters::Subscriber<ModelCoefficientsArray> sub_coefficients1_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy2> >sync_;
    ros::Publisher pub_polygon_, pub_coefficients_;
  private:
  };
}

#endif 
