constraint_app
/home/jbrooksh/drc/software/perception/constraint_app/src/constraint_app/constraint_app.hpp
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00001 #ifndef constraint_app_HPP_
00002 #define constraint_app_HPP_
00003 
00004 #include <lcm/lcm.h>
00005 
00006 #include <otdf_parser/otdf_parser.h>
00007 
00008 #include <lcmtypes/drc_lcmtypes.h>
00009 #include <lcmtypes/bot_core.h>
00010 #include <path_util/path_util.h>
00011 #include <urdf/model.h>
00012 #include <kdl/tree.hpp>
00013 #include <kdl_parser/kdl_parser.hpp>
00014 #include <forward_kinematics/treefksolverposfull_recursive.hpp>
00015 #include <otdf_parser/otdf_parser.h>
00016 #include <otdf_parser/otdf_urdf_converter.h>
00017 
00018 class constraint_app{
00019   
00020   public:
00021 
00022   constraint_app(lcm_t* publish_lcm);
00023         
00024   private:
00025     lcm_t* publish_lcm_;
00026 
00027     static void affordance_collection_handler_aux(const lcm_recv_buf_t* rbuf,
00028                                                   const char* channel,
00029                                                   const drc_affordance_collection_t* msg,
00030                                                   void* user_data) {
00031       ((constraint_app *) user_data)->affordance_collection_handler(msg);
00032     }
00033     void affordance_collection_handler(const drc_affordance_collection_t *msg);
00034 
00035   static void affordance_track_collection_handler_aux(const lcm_recv_buf_t* rbuf,
00036                                                       const char* channel,
00037                                                       const drc_affordance_track_collection_t* msg,
00038                                                       void* user_data) {
00039     ((constraint_app *) user_data)->affordance_track_collection_handler(msg);
00040   }
00041   void affordance_track_collection_handler(const drc_affordance_track_collection_t *msg);
00042 
00043   void print_kdl_tree(const KDL::Tree& tree, 
00044                       const KDL::TreeElement& segment,
00045                       unsigned int depth);
00046 };    
00047 
00048 #endif
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