laser_to_pc.h

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#ifndef _LASER_TO_PC_H_
#define _LASER_TO_PC_H_

// ROS includes.
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <laser_geometry/laser_geometry.h>

// PCL includes
#include <pcl/point_types.h>
#include <pcl/conversions.h>

// LAR includes
#include <points_from_volume/points_from_volume.h>

using namespace std;
using namespace pcl;


class laser_to_pc
{
public:  
    laser_to_pc()
    {
    };
    
    ~laser_to_pc()
    {
    };
   
    // VARIABLES
    
    ros::Publisher *pub_ptr;
    
    string frame_id;
    
    double min_z,max_z;
    
    tf::TransformListener *listener_ptr;
   
    PointCloud<PointXYZ> convex_hull;
    
    // FUNCTIONS
    
   void filter (const sensor_msgs::LaserScanPtr& msg);
  
};


#endif