Pulling laser processing out of laser geomtry for 0.9.0 release.

git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@24513 eb33c2ac-9c88-4c90-87e0-44a10359b0c3

include/laser_geometry/laser_processor.h

@@ -1,145 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     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 the Willow Garage 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 OWNER 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;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-//! A namespace containing the laser processor helper classes
-
-
-#ifndef LASER_SCAN_LASERPROCESSOR_HH
-#define LASER_SCAN_LASERPROCESSOR_HH
-
-#include <unistd.h>
-#include <math.h>
-#include "sensor_msgs/LaserScan.h"
-#include "sensor_msgs/PointCloud.h"
-#include "geometry_msgs/Point.h"
-
-#include <list>
-#include <set>
-#include <vector>
-#include <map>
-#include <utility>
-#include <algorithm>
-
-#include "tf/transform_datatypes.h"
-
-#warning laser_geometry/laser_processor.h has been deprecated
-
-namespace laser_geometry
-{
-  //! A struct representing a single sample from the laser.
-  class Sample
-  {
-  public:
-    int   index;
-    float range;
-    float intensity;
-    float x;
-    float y;
-
-    __attribute__ ((deprecated)) static Sample* Extract(int ind, const sensor_msgs::LaserScan& scan);
-
-  private:
-    __attribute__ ((deprecated)) Sample() {};
-  };
-
-  //! The comparator allowing the creation of an ordered "SampleSet"
-  struct CompareSample
-  {
-    __attribute__ ((deprecated)) CompareSample() {}
-
-    inline bool operator() (const Sample* a, const Sample* b)
-    {
-      return (a->index <  b->index);
-    }
-  };
-
-
-  //! An ordered set of Samples
-  class SampleSet : public std::set<Sample*, CompareSample>
-  {
-  public:
-    __attribute__ ((deprecated)) SampleSet() {}
-
-    ~SampleSet() { clear(); }
-
-    void clear();
-
-    void appendToCloud(sensor_msgs::PointCloud& cloud, int r = 0, int g = 0, int b = 0);
-
-    tf::Point center();
-  };
-
-  //! A mask for filtering out Samples based on range
-  class ScanMask
-  {
-    SampleSet mask_;
-
-    bool     filled;
-    float    angle_min;
-    float    angle_max;
-    uint32_t size;
-
-  public:
-
-    __attribute__ ((deprecated)) ScanMask() : filled(false), angle_min(0), angle_max(0), size(0) { }
-
-    inline void clear() { mask_.clear(); filled = false; }
-
-    void addScan(sensor_msgs::LaserScan& scan);
-
-    bool hasSample(Sample* s, float thresh);
-  };
-
-
-
-  class ScanProcessor
-  {
-    std::list<SampleSet*> clusters_;
-    sensor_msgs::LaserScan scan_;
-
-  public:
-
-    std::list<SampleSet*>& getClusters() { return clusters_; }
-
-     __attribute__ ((deprecated)) ScanProcessor(const sensor_msgs::LaserScan& scan, ScanMask& mask_, float mask_threshold = 0.03);
-
-    ~ScanProcessor();
-
-    void removeLessThan(uint32_t num);
-
-    void splitConnected(float thresh);
-  };
-};
-
-#endif