switch rtabmap_lib svn co from the 0.3 branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@110 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/src/CoreWrapper.h

@@ -0,0 +1,65 @@
+/*
+ * CoreWrapper.h
+ *
+ *  Created on: 2 févr. 2010
+ *      Author: labm2414
+ */
+
+#ifndef COREWRAPPER_H_
+#define COREWRAPPER_H_
+
+
+#include <ros/ros.h>
+#include <std_srvs/Empty.h>
+#include <std_msgs/Empty.h>
+#include <cv_bridge/CvBridge.h>
+#include "utilite/UEventsHandler.h"
+#include <rtabmap/core/RtabmapEvent.h>
+#include <sensor_msgs/Image.h>
+#include "rtabmap/SensoryMotorState.h"
+
+namespace rtabmap
+{
+	class Rtabmap;
+}
+
+class CoreWrapper : public UEventsHandler
+{
+public:
+	CoreWrapper(bool deleteDbOnStart = false);
+	virtual ~CoreWrapper();
+
+	void start();
+
+private:
+	void smReceivedCallback(const rtabmap::SensoryMotorStateConstPtr & msg);
+	void parametersUpdatedCallback(const std_msgs::EmptyConstPtr & msg);
+
+	bool resetMemoryCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool dumpMemoryCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool dumpPredictionCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool deleteMemoryCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+
+	void loadNodeParameters(const std::string & configFile);
+	void saveNodeParameters(const std::string & configFile);
+
+	virtual void handleEvent(UEvent * anEvent);
+
+private:
+	ros::NodeHandle nh_;
+	rtabmap::Rtabmap * rtabmap_;
+	ros::Subscriber imageTopic_;
+	ros::Subscriber compressedImageTopic_;
+	ros::Subscriber parametersUpdatedTopic_;
+	ros::Publisher infoPub_;
+	ros::Publisher infoExPub_;
+	ros::Publisher parametersLoadedPub_;
+	std::string configFile_;
+
+	ros::ServiceServer resetMemorySrv_;
+	ros::ServiceServer dumpMemorySrv_;
+	ros::ServiceServer deleteMemorySrv_;
+	ros::ServiceServer dumpPredictionSrv_;
+};
+
+#endif /* COREWRAPPER_H_ */