/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
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 *  are met:
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *
 * $Id: vfh.cpp 35361 2011-01-20 04:34:49Z rusu $
 *
 */

#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/vfh.h"

void 
pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
  PointCloudOut output;
  output.header = cloud->header;
  pub_output_.publish (ros_ptr(output.makeShared ()));
}

void 
pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
                                        const PointCloudNConstPtr &normals,
                                        const PointCloudInConstPtr &surface,
                                        const IndicesPtr &indices)
{
  // Set the parameters
  impl_.setKSearch (k_);
  impl_.setRadiusSearch (search_radius_);

  // Set the inputs
  impl_.setInputCloud (pcl_ptr(cloud));
  impl_.setIndices (indices);
  impl_.setSearchSurface (pcl_ptr(surface));
  impl_.setInputNormals (pcl_ptr(normals));
  // Estimate the feature
  PointCloudOut output;
  impl_.compute (output);

  // Publish a Boost shared ptr const data
  // Enforce that the TF frame and the timestamp are copied
  output.header = cloud->header;
  pub_output_.publish (ros_ptr(output.makeShared ()));
}

typedef pcl_ros::VFHEstimation VFHEstimation;
PLUGINLIB_EXPORT_CLASS(VFHEstimation, nodelet::Nodelet)

