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/GuiWrapper.h

@@ -0,0 +1,54 @@
+/*
+ * GuiWrapper.h
+ *
+ *  Created on: 4 févr. 2010
+ *      Author: labm2414
+ */
+
+#ifndef GUIWRAPPER_H_
+#define GUIWRAPPER_H_
+
+#include <ros/ros.h>
+#include "rtabmap/RtabmapInfo.h"
+#include "rtabmap/RtabmapInfoEx.h"
+#include "utilite/UEventsHandler.h"
+
+namespace rtabmap
+{
+	class MainWindow;
+}
+
+class QApplication;
+
+class GuiWrapper : public UEventsHandler
+{
+public:
+	GuiWrapper(int & argc, char** argv);
+	virtual ~GuiWrapper();
+
+	int exec();
+
+protected:
+	virtual void handleEvent(UEvent * anEvent);
+
+private:
+	void infoReceivedCallback(const rtabmap::RtabmapInfoConstPtr & infoMsg);
+	void infoExReceivedCallback(const rtabmap::RtabmapInfoExConstPtr & infoExMsg);
+
+private:
+	ros::NodeHandle nh_;
+	ros::Subscriber infoTopic_;
+	ros::Subscriber infoExTopic_;
+	QApplication * app_;
+	rtabmap::MainWindow * mainWindow_;
+
+	ros::ServiceClient resetMemoryClient_;
+	ros::ServiceClient dumpMemoryClient_;
+	ros::ServiceClient changeCameraImgRateClient_;
+	ros::ServiceClient deleteMemoryClient_;
+	ros::ServiceClient dumpPredictionClient_;
+
+	ros::Publisher parametersUpdatedPub_;
+};
+
+#endif /* GUIWRAPPER_H_ */