text: //------------------------------------------------------------------------------
  // Ifdefs
  //------------------------------------------------------------------------------
  #ifndef QNODE_HPP
  #define QNODE_HPP
  
  //------------------------------------------------------------------------------
  // Includes
  //------------------------------------------------------------------------------
  #include <QThread>
  #include <QStringListModel>
  #include <qapplication.h>
  
  #include <ros/ros.h>
  #include <sensor_msgs/LaserScan.h>
  
  #include <string>
  
  #include <tms_msg_ss/fss_pre_data.h>
  #include <tms_msg_ss/fss_tf_data.h>
  
  //------------------------------------------------------------------------------
  // Structs
  //------------------------------------------------------------------------------
  typedef struct
  {
    float fX1, fY1;
    float fX2, fY2;
  } COORDINATE;
  
  typedef struct
  {
    float fDistance;
    float fIntensity;
    float fIntrinsicIntensity;
  } LRF;
  
  typedef struct
  {
    bool bIsReflect;
    bool bIsForwardPoint;
    float fDistance;
    float fIntensity;
    float fIntrinsicIntensity;
    float fAcuteAngle;
    COORDINATE stCoordinate;
  } LRF_DATA;
  
  //------------------------------------------------------------------------------
  // Namespaces
  //------------------------------------------------------------------------------
  namespace fss_graph
  {
  //------------------------------------------------------------------------------
  // Class
  //------------------------------------------------------------------------------
  class QNode : public QThread
  {
    Q_OBJECT
  
  public:
    LRF_DATA m_stTmepData[721];
    LRF m_stMaxErrorData[721];
    LRF m_stMinErrorData[721];
  
    QNode(int argc, char** argv);
    virtual ~QNode();
  
    bool init();
    void run();
    void shutdown();
  
  Q_SIGNALS:
    void rosShutdown();
  
  private:
    void chatterCallback(const tms_msg_ss::fss_tf_data::ConstPtr& msg);
  
    int init_argc;
    char** init_argv;
  
    ros::Subscriber fss_graph_subscriber;
    ros::Publisher fss_graph_publisher;
  
    std::vector< tms_msg_ss::fss_tf_data > m_vstTfData;
  };
  
  //------------------------------------------------------------------------------
  }  // namespace fss_graph
  #endif  // QNODE_HPP
  