covariance_markers_alg.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 //
00019 // IMPORTANT NOTE: This code has been generated through a script from the
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _covariance_markers_alg_h_
00026 #define _covariance_markers_alg_h_
00027 
00028 #include <iri_covariance_markers/CovarianceMarkersConfig.h>
00029 #include "mutex.h"
00030 #include <Eigen/Core>
00031 #include <Eigen/Eigenvalues>
00032 
00033 //include covariance_markers_alg main library
00034 #include <visualization_msgs/MarkerArray.h>
00035 #include <nav_msgs/Odometry.h>
00036 
00042 class CovarianceMarkersAlgorithm
00043 {
00044   protected:
00051     CMutex alg_mutex_;
00052 
00053     // private attributes and methods
00054 
00055   public:
00062     typedef iri_covariance_markers::CovarianceMarkersConfig Config;
00063 
00070     Config config_;
00071 
00080     CovarianceMarkersAlgorithm();
00081 
00087     void lock(void) { alg_mutex_.enter(); };
00088 
00094     void unlock(void) { alg_mutex_.exit(); };
00095 
00103     bool try_enter(void) { return alg_mutex_.try_enter(); };
00104 
00116     void config_update(const Config& new_cfg, uint32_t level=0);
00117 
00118     // here define all covariance_markers_alg interface methods to retrieve and set
00119     // the driver parameters
00120 
00121     std::string frame_id_;
00122     std::string namespace_;
00123     uint counter_;
00124     float scale_multiplier_;
00125     float scale_multiplier_z_;
00126     float color_alpha_;
00127     float color_red_;
00128     float color_green_;
00129     float color_blue_ ;
00130 
00131     nav_msgs::Odometry odom_;
00132     visualization_msgs::MarkerArray marker_array_;
00133     visualization_msgs::Marker current_marker_;
00134 
00136     void drawCovariance();
00138     visualization_msgs::MarkerArray marker_array();
00139 
00146     ~CovarianceMarkersAlgorithm();
00147 };
00148 
00149 #endif


iri_covariance_markers
Author(s): Marti Morta, mmorta at iri.upc.edu
autogenerated on Fri Dec 6 2013 22:11:39