tabletop_segmentor_nodelet.cpp

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/**
 * @author: Marcus Liebhardt, Yujin Robot
 * @date: 2012
 * @brief: ROS nodelet implementation of the tabletop segmentor
 */

#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <tabletop_segmentor/tabletop_segmentation.h>


namespace tabletop_segmentor
{
  class TabletopSegmentorNodelet : public nodelet::Nodelet
  {
  public:
    virtual void onInit()
    {
      NODELET_DEBUG("Initializing nodelet...");
      segmentor_.reset(new TabletopSegmentor(this->getPrivateNodeHandle()));
    }
  private:
    boost::shared_ptr<TabletopSegmentor> segmentor_;
  };
}


PLUGINLIB_DECLARE_CLASS(tabletop_segmentor, TabletopSegmentorNodelet, tabletop_segmentor::TabletopSegmentorNodelet,
                        nodelet::Nodelet);