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

#include <pcl_ros/pcl_nodelet.h>
#include <jsk_recognition_msgs/ParallelEdgeArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <jsk_pcl_ros/ParallelEdgeFinderConfig.h>
#include "jsk_pcl_ros/pcl_conversion_util.h"
#include <dynamic_reconfigure/server.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include "jsk_pcl_ros/geo_util.h"

#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class ParallelEdgeFinder: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    jsk_recognition_msgs::ClusterPointIndices,
    jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy;
    typedef jsk_pcl_ros::ParallelEdgeFinderConfig Config;
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();

    virtual void estimate(
      const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& input_indices,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& input_coefficients);

    virtual void publishResult(
      const std::vector<std::set<int> >& parallel_groups_list,
      const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& input_indices,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& input_coefficients);

    // for visualization
    virtual void publishResultAsCluser(
      const std::vector<std::set<int> >& parallel_groups_list,
      const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& input_indices,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& input_coefficients);

    virtual void configCallback (Config &config, uint32_t level);

    virtual void subscribe();
    virtual void unsubscribe();
    
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    ros::Publisher pub_, pub_clusters_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    ////////////////////////////////////////////////////////
    // parallel estimation parameters
    ////////////////////////////////////////////////////////
    double angle_threshold_;
  private:
    
  };
}

#endif
