human_detection.h

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/******************************************************************************
Copyright 2015 RAPP

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

   http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

******************************************************************************/

#ifndef RAPP_HUMAN_DETECTION_NODE
#define RAPP_HUMAN_DETECTION_NODE

#include "ros/ros.h"

#include <rapp_platform_ros_communications/HumanDetectionRosSrv.h>

#include <human_detection/human_detector.h>

class HumanDetection
{
  public:

    HumanDetection(void);

    bool humanDetectionCallback(
      rapp_platform_ros_communications::HumanDetectionRosSrv::Request& req,
      rapp_platform_ros_communications::HumanDetectionRosSrv::Response& res
      );

  private:
    ros::NodeHandle nh_;

    ros::ServiceServer humanDetectionService_;

    std::string humanDetectionTopic_;

    HumanDetector human_detector_;
};

#endif // RAPP_HUMAN_DETECTION_NODE