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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <jsk_recognition_msgs/TorusArray.h>
#include <jsk_recognition_msgs/Torus.h>
#include <jsk_pcl_ros/TorusFinderConfig.h>
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PoseStamped.h>
#include <Eigen/Core>

namespace jsk_pcl_ros
{
  class TorusFinder: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef TorusFinderConfig Config;
    TorusFinder(): DiagnosticNodelet("TorusFinder") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
    virtual void configCallback(Config &config, uint32_t level);
    
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Subscriber sub_;
    ros::Publisher pub_torus_;
    ros::Publisher pub_torus_array_;
    ros::Publisher pub_inliers_;
    ros::Publisher pub_coefficients_;
    ros::Publisher pub_pose_stamped_;
    boost::mutex mutex_;
    Eigen::Vector3f hint_axis_;

    ////////////////////////////////////////////////////////
    // Parameters
    ////////////////////////////////////////////////////////
    double min_radius_;
    double max_radius_;
    double outlier_threshold_;
    double eps_hint_angle_;
    bool use_hint_;
    bool use_normal_;
    int max_iterations_;
    int min_size_;
  private:
  };
}

#endif
