// -*- mode: C++ -*-
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 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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#ifndef JSK_PCL_ROS_MULTI_PLANE_EXTRACTION_H_
#define JSK_PCL_ROS_MULTI_PLANE_EXTRACTION_H_

#include <ros/ros.h>
#include <ros/names.h>
#include <pcl_ros/pcl_nodelet.h>

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

#include "jsk_recognition_msgs/ClusterPointIndices.h"
#include "sensor_msgs/PointCloud2.h"
#include "jsk_recognition_msgs/ModelCoefficientsArray.h"
#include "jsk_recognition_msgs/PolygonArray.h"
#include <dynamic_reconfigure/server.h>
#include "jsk_pcl_ros/MultiPlaneExtractionConfig.h"
#include "jsk_pcl_ros/pcl_util.h"
#include "jsk_pcl_ros/pcl_conversion_util.h"
#include <jsk_topic_tools/vital_checker.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>

namespace jsk_pcl_ros
{
  class MultiPlaneExtraction: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::PointCloud2,
    jsk_recognition_msgs::ClusterPointIndices,
    jsk_recognition_msgs::ModelCoefficientsArray,
    jsk_recognition_msgs::PolygonArray> SyncPolicy;
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::PointCloud2,
      jsk_recognition_msgs::ModelCoefficientsArray,
      jsk_recognition_msgs::PolygonArray> SyncWithoutIndicesPolicy;
    typedef jsk_pcl_ros::MultiPlaneExtractionConfig Config;

    MultiPlaneExtraction(): DiagnosticNodelet("MultiPlaneExtraction") { }
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    
    virtual void extract(const sensor_msgs::PointCloud2::ConstPtr& input,
                         const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices,
                         const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients,
                         const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons);
    virtual void extract(
      const sensor_msgs::PointCloud2::ConstPtr& input,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients,
      const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons);
    
    virtual void configCallback (Config &config, uint32_t level);

    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);

    virtual void subscribe();
    virtual void unsubscribe();
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    boost::mutex mutex_;
    ros::Publisher pub_, nonplane_pub_;
    ros::Publisher pub_indices_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    boost::shared_ptr<message_filters::Synchronizer<SyncWithoutIndicesPolicy> > sync_wo_indices_;

    ////////////////////////////////////////////////////////
    // Diagnostics Variables
    ////////////////////////////////////////////////////////
    Counter plane_counter_;
    
    ////////////////////////////////////////////////////////
    // Parameters
    ////////////////////////////////////////////////////////
    int maximum_queue_size_;
    double min_height_, max_height_;
    bool use_indices_;
    double maginify_;
  private:
    
    
  };
}

#endif
