eband_trajectory_controller.h

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#ifndef EBAND_TRAJECTORY_CONTROLLER_H_
#define EBAND_TRAJECTORY_CONTROLLER_H_

#include <ros/ros.h>
#include <ros/assert.h>

// classes which are part of this package
#include <eband_local_planner/conversions_and_types.h>
#include <eband_local_planner/eband_visualization.h>

// geometry_msg
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Pose2D.h>
#include <geometry_msgs/Twist.h>

// nav_msgs
#include <nav_msgs/Odometry.h>

// geometry
#include <angles/angles.h>
#include <tf/tf.h>

// PID control library
#include <control_toolbox/pid.h>


namespace eband_local_planner{


class EBandTrajectoryCtrl{

        public:

                EBandTrajectoryCtrl();

                EBandTrajectoryCtrl(std::string name, costmap_2d::Costmap2DROS* costmap_ros);

                ~EBandTrajectoryCtrl();

                void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);

                void setVisualization(boost::shared_ptr<EBandVisualization> target_visual);

                bool setBand(const std::vector<Bubble>& elastic_band);

                bool setOdometry(const nav_msgs::Odometry& odometry);

                bool getTwist(geometry_msgs::Twist& twist_cmd);


        private:

                // pointer to external objects (do NOT delete object)
                costmap_2d::Costmap2DROS* costmap_ros_; 
                boost::shared_ptr<EBandVisualization> target_visual_; // pointer to visualization object

    control_toolbox::Pid pid_;

                // parameters
                double k_p_, k_nu_, ctrl_freq_;
                double acc_max_, virt_mass_;
                double max_vel_lin_, max_vel_th_, min_vel_lin_, min_vel_th_;
                double min_in_place_vel_th_;
                double in_place_trans_vel_;
                double tolerance_trans_, tolerance_rot_, tolerance_timeout_;
                double acc_max_trans_, acc_max_rot_;
                double rotation_correction_threshold_; // We'll do rotation correction if we're at least this far from the goal

                // flags
                bool initialized_, band_set_, visualization_;

                // data
                std::vector<Bubble> elastic_band_;
                geometry_msgs::Twist odom_vel_;
                geometry_msgs::Twist last_vel_;
                geometry_msgs::Pose ref_frame_band_;

                inline double sign(double n)
                {
                        return n < 0.0 ? -1.0 : 1.0;
                }

                geometry_msgs::Twist getFrame1ToFrame2InRefFrame(const geometry_msgs::Pose& frame1, const geometry_msgs::Pose& frame2, const geometry_msgs::Pose& ref_frame);
                
                geometry_msgs::Twist transformTwistFromFrame1ToFrame2(const geometry_msgs::Twist& curr_twist, const geometry_msgs::Pose& frame1,
                                                                                                                                const geometry_msgs::Pose& frame2);

                geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist);

                double getBubbleTargetVel(const int& target_bub_num, const std::vector<Bubble>& band, geometry_msgs::Twist& VelDir);

};
};
#endif