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#ifndef _MHT_H_
#define _MHT_H_

#include <ros/ros.h>

#include <visualization_msgs/MarkerArray.h>

#include <mtt/graph_wrapper.h>

#include <mtt/mht_declaration.h>

#include <mtt/k_best.h>
#include <mtt/cluster.h>

#include <laser_geometry/laser_geometry.h>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>

#include <Eigen/Dense>
#include <Eigen/Cholesky>

#include <iostream>
#include <istream>
#include <fstream>
#include <string>
#include <complex>

#include <boost/thread/thread.hpp>

using Eigen::Vector4d;

extern gvplugin_library_t gvplugin_xgtk_LTX_library;

extern "C" 
{
        extern void gvconfig_plugin_install_from_library(GVC_t*,char*,gvplugin_library_t*);
}

class Markers
{
        public:
                void update(visualization_msgs::Marker& marker);
                
                void decrement(void);
                
                void clean(void);
                
                vector<visualization_msgs::Marker> getOutgoingMarkers(void);
        private:
                vector<visualization_msgs::Marker> markers;
};

vector<visualization_msgs::Marker> createTargetMarkers(vector<TargetPtr>& targets);

vector<visualization_msgs::Marker> createClustersMarkers(vector<MeasurementPtr>& clusters);

std_msgs::ColorRGBA makeColor(int id);

std_msgs::ColorRGBA makeColor(double r,double g, double b, double a);

geometry_msgs::Point makePose(double x,double y, double z);

void dataHandler(const sensor_msgs::PointCloud2& msg);

void* graphicalThread(void*data);

void createObjects(vector<PointPtr>&data,vector<MeasurementPtr>&clusters,double clustering_distance);

void pointCloud2ToVector(const sensor_msgs::PointCloud2& cloud,vector<PointPtr>& data);

double euclideanDistance(Point&p1,Point&p2);

#endif

---

mtt
Author(s): Jorge Almeida
autogenerated on Wed Jul 23 04:34:56 2014