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AUTHORS
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Original Authors
----------------
Luc ABSIL <luc.absil@supelec.fr>
Louis-Guillaume DUBOIS <contact@lgdubois.fr>
Paul JANIN <paul.janin@supelec.fr>

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CMakeLists.txt
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# Copyright © 2015 CentraleSupélec
#
# This file is part of Hand Control.
#
# Hand Control is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Hand Control is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
cmake_minimum_required(VERSION 2.8.3)
project(hand_control)

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COPYING Normal file
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Hand Control -- "hand_control" ROS package
Controling a "Parrot AR Drone" with the hand movements measured by a Microsoft Kinect sensor.
Copyright © 2015 CentraleSupélec
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.

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LICENSE
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Copyright (C) 2015 CentraleSupélec
All rights reserved

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GNU Free Documentation License
Version 1.3, 3 November 2008
Copyright (C) 2000, 2001, 2002, 2007, 2008 Free Software Foundation, Inc.
<http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
0. PREAMBLE
The purpose of this License is to make a manual, textbook, or other
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This License is a kind of "copyleft", which means that derivative
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We have designed this License in order to use it for manuals for free
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and required Cover Texts given in the Document's license notice.
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Preserve the Title of the section, and preserve in the section all
the substance and tone of each of the contributor acknowledgements
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L. Preserve all the Invariant Sections of the Document,
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or the equivalent are not considered part of the section titles.
M. Delete any section Entitled "Endorsements". Such a section
may not be included in the Modified Version.
N. Do not retitle any existing section to be Entitled "Endorsements"
or to conflict in title with any Invariant Section.
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In the combination, you must combine any sections Entitled "History"
in the various original documents, forming one section Entitled
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Entitled "Endorsements".
6. COLLECTIONS OF DOCUMENTS
You may make a collection consisting of the Document and other
documents released under this License, and replace the individual
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that is included in the collection, provided that you follow the rules
of this License for verbatim copying of each of the documents in all
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document.
7. AGGREGATION WITH INDEPENDENT WORKS
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and independent documents or works, in or on a volume of a storage or
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If the Cover Text requirement of section 3 is applicable to these
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the entire aggregate, the Document's Cover Texts may be placed on
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Replacing Invariant Sections with translations requires special
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the translation and the original version of this License or a notice
or disclaimer, the original version will prevail.
If a section in the Document is Entitled "Acknowledgements",
"Dedications", or "History", the requirement (section 4) to Preserve
its Title (section 1) will typically require changing the actual
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9. TERMINATION
You may not copy, modify, sublicense, or distribute the Document
except as expressly provided under this License. Any attempt
otherwise to copy, modify, sublicense, or distribute it is void, and
will automatically terminate your rights under this License.
However, if you cease all violation of this License, then your license
from a particular copyright holder is reinstated (a) provisionally,
unless and until the copyright holder explicitly and finally
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10. FUTURE REVISIONS OF THIS LICENSE
The Free Software Foundation may publish new, revised versions of the
GNU Free Documentation License from time to time. Such new versions
will be similar in spirit to the present version, but may differ in
detail to address new problems or concerns. See
http://www.gnu.org/copyleft/.
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(2) were thus incorporated prior to November 1, 2008.
The operator of an MMC Site may republish an MMC contained in the site
under CC-BY-SA on the same site at any time before August 1, 2009,
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ADDENDUM: How to use this License for your documents
To use this License in a document you have written, include a copy of
the License in the document and put the following copyright and
license notices just after the title page:
Copyright (c) YEAR YOUR NAME.
Permission is granted to copy, distribute and/or modify this document
under the terms of the GNU Free Documentation License, Version 1.3
or any later version published by the Free Software Foundation;
with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts.
A copy of the license is included in the section entitled "GNU
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If you have Invariant Sections, Front-Cover Texts and Back-Cover Texts,
replace the "with...Texts." line with this:
with the Invariant Sections being LIST THEIR TITLES, with the
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If you have Invariant Sections without Cover Texts, or some other
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If your document contains nontrivial examples of program code, we
recommend releasing these examples in parallel under your choice of
free software license, such as the GNU General Public License,
to permit their use in free software.

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GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
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The licenses for most software and other practical works are designed
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
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to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

7
LISEZMOI.md
View file

@ -1,6 +1,9 @@
Copyright (C) 2015 CentraleSupélec
Copyright © 2015 CentraleSupélec
All rights reserved
Permission is granted to copy, distribute and/or modify this document
under the terms of the GNU Free Documentation License, Version 1.3
or any later version published by the Free Software Foundation;
with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts.
An english version of this file is available (README.md)

7
README.md
View file

@ -1,6 +1,9 @@
Copyright (C) 2015 CentraleSupélec
Copyright © 2015 CentraleSupélec
All rights reserved
Permission is granted to copy, distribute and/or modify this document
under the terms of the GNU Free Documentation License, Version 1.3
or any later version published by the Free Software Foundation;
with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts.
La documentation originale est en français : LISEZMOI.md. La documentation ci-dessous n’est qu’une traduction.

20
cfg/Commander.cfg
View file

@ -1,7 +1,23 @@
#!/usr/bin/env python
# -*- encoding: utf-8 -*-
# Copyright (C) 2015 CentraleSupélec
# All rights reserved
# Copyright © 2015 CentraleSupélec
#
# This file is part of Hand Control.
#
# Hand Control is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Hand Control is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
PACKAGE = "hand_control"
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()

20
cfg/Estimator.cfg
View file

@ -1,7 +1,23 @@
#!/usr/bin/env python
# -*- encoding: utf-8 -*-
# Copyright (C) 2015 CentraleSupélec
# All rights reserved
# Copyright © 2015 CentraleSupélec
#
# This file is part of Hand Control.
#
# Hand Control is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Hand Control is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
PACKAGE = "hand_control"
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()

20
cfg/Filter.cfg
View file

@ -1,7 +1,23 @@
#!/usr/bin/env python
# -*- encoding: utf-8 -*-
# Copyright (C) 2015 CentraleSupélec
# All rights reserved
# Copyright © 2015 CentraleSupélec
#
# This file is part of Hand Control.
#
# Hand Control is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Hand Control is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
PACKAGE = "hand_control"
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()

19
launch/ardrone.launch
View file

@ -1,3 +1,21 @@
<!--
Copyright © 2015 CentraleSupélec
This file is part of Hand Control.
Hand Control is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Hand Control is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
-->
<!-- cf ARDrone Developer Guide -->
<launch>
<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
@ -40,4 +58,3 @@
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
</node>
</launch>

18
launch/freenect-registered-xyzrgb.launch
View file

@ -1,3 +1,21 @@
<!--
Copyright © 2015 CentraleSupélec
This file is part of Hand Control.
Hand Control is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Hand Control is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
-->
<launch>
<include file="$(find freenect_launch)/launch/freenect.launch">

18
launch/kinect_commander.launch
View file

@ -1,4 +1,21 @@
<!--
Copyright © 2015 CentraleSupélec
This file is part of Hand Control.
Hand Control is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Hand Control is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
-->
<launch>
<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
@ -13,5 +30,4 @@
<node name="commander" pkg="hand_control" type="commander">
<remap from="/commander/input" to="/estimator/output"/>
</node>
</launch>

39
package.xml
View file

@ -1,38 +1,33 @@
<?xml version="1.0"?>
<package>
<package format="2">
<name>hand_control</name>
<version>1.0.0</version>
<description>Contrôle d’un drone "Parrot AR Drone" par les mouvements de la main mesurés par une Kinect</description>
<version>1.1.0</version>
<description>
Controling a "Parrot AR Drone" with the hand movements measured by a Microsoft Kinect sensor.
</description>
<license>GPLv3+</license>
<maintainer email="luc.absil@supelec.fr">Luc ABSIL</maintainer>
<maintainer email="contact@lgdubois.fr">Louis-Guillaume DUBOIS</maintainer>
<maintainer email="paul.janin@supelec.fr">Paul JANIN</maintainer>
<license>All rights reserved</license>
<author email="luc.absil@supelec.fr">Luc ABSIL</author>
<author email="contact@lgdubois.fr">Louis-Guillaume DUBOIS</author>
<author email="paul.janin@supelec.fr">Paul JANIN</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>pcl_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<depend>pcl_ros</depend>
<depend>pcl_msgs</depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>dynamic_reconfigure</depend>
<build_depend>message_generation</build_depend>
<build_depend>dynamic_reconfigure</build_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>pcl_msgs</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>ardrone_autonomy</run_depend>
<run_depend>freenect_launch</run_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>rqt_reconfigure</run_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>ardrone_autonomy</exec_depend>
<exec_depend>freenect_launch</exec_depend>
<exec_depend>rqt_reconfigure</exec_depend>
</package>

19
src/commander.cpp
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@ -1,6 +1,21 @@
/* Copyright (C) 2015 CentraleSupélec
* All rights reserved
/* Copyright © 2015 CentraleSupélec
*
* This file is part of Hand Control.
*
* Hand Control is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Hand Control is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ros/ros.h>
#include <ros/time.h>
#include <locale.h>

21
src/display.cpp
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@ -1,7 +1,22 @@
/* Copyright (C) 2015 CentraleSupélec
* All rights reserved
/* Copyright © 2015 CentraleSupélec
*
* This file is part of Hand Control.
*
* Hand Control is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Hand Control is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
*/
// library to be used by "keyboard_cmd.cpp"
// library used by "keyboard_cmd.cpp"
#include <ncurses.h>
#include <string>
#include <geometry_msgs/Twist.h>

20
src/display.h
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@ -1,7 +1,21 @@
/* Copyright (C) 2015 CentraleSupélec
* All rights reserved
/* Copyright © 2015 CentraleSupélec
*
* This file is part of Hand Control.
*
* Hand Control is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Hand Control is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
*/
// library to be used by "keyboard_cmd.cpp"
#ifndef CURSES_DISPLAY
#define CURSES_DISPLAY

19
src/estimator.cpp
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@ -1,6 +1,21 @@
/* Copyright (C) 2015 CentraleSupélec
* All rights reserved
/* Copyright © 2015 CentraleSupélec
*
* This file is part of Hand Control.
*
* Hand Control is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Hand Control is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>

19
src/filter.cpp
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@ -1,6 +1,21 @@
/* Copyright (C) 2015 CentraleSupélec
* All rights reserved
/* Copyright © 2015 CentraleSupélec
*
* This file is part of Hand Control.
*
* Hand Control is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Hand Control is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>

19
src/keyboard_cmd.cpp
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@ -1,6 +1,21 @@
/* Copyright (C) 2015 CentraleSupélec
* All rights reserved
/* Copyright © 2015 CentraleSupélec
*
* This file is part of Hand Control.
*
* Hand Control is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Hand Control is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ros/ros.h>
#include <ros/time.h>
#include <locale.h>