force_navigation_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _force_navigation_alg_node_h_
#define _force_navigation_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "force_navigation_alg.h"
#include "force_navigation.h" //people prediction library
#include <tf/transform_listener.h>
#include <geometry_msgs/PointStamped.h>

// [publisher subscriber headers]
#include <std_msgs/Float64MultiArray.h>
#include <geometry_msgs/PoseStamped.h>
#include <iri_perception_msgs/peopleTrackingArray.h>
#include <visualization_msgs/MarkerArray.h>

// [service client headers]

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <move_base_msgs/MoveBaseAction.h>

class ForceNavigationAlgNode : public algorithm_base::IriBaseAlgorithm<ForceNavigationAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher navigation_work_publisher_;
    std_msgs::Float64MultiArray Float64_msg_;
    ros::Publisher robot_simulated_pose_publisher_;
    geometry_msgs::PoseStamped PoseStamped_msg_;
    ros::Publisher trajectories_publisher_;
    visualization_msgs::MarkerArray MarkerArray_trajectories_msg_;
    ros::Publisher forces_publisher_;
    visualization_msgs::MarkerArray MarkerArray_forces_msg_;
        ros::Publisher destinations_publisher_;
    visualization_msgs::MarkerArray MarkerArray_destinations_msg_;
        visualization_msgs::Marker traj_marker_, traj_robot_marker_, robot_marker_;
        visualization_msgs::Marker target_marker_;
        visualization_msgs::Marker dest_marker_;
        visualization_msgs::Marker text_marker_;
        visualization_msgs::Marker force_marker_, force_goal_marker_, force_goal2_marker_, force_int_person_marker_,
                        force_int_robot_marker_, force_obstacle_map_marker_, force_obstacle_laser_marker_;
    ros::Publisher velocity_publisher_;
    geometry_msgs::Twist Twist_msg_;

    // [subscriber attributes]
    ros::Subscriber tracks_subscriber_;
    void tracks_callback(const iri_perception_msgs::peopleTrackingArray::ConstPtr& msg);
    CMutex tracks_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_robot_client_;
    move_base_msgs::MoveBaseGoal move_robot_goal_;
    void move_robotMakeActionRequest();
    void move_robotDone(const actionlib::SimpleClientGoalState& state,  const move_base_msgs::MoveBaseResultConstPtr& result);
    void move_robotActive();
    void move_robotFeedback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);


        // class atributes
        Cforce_navigation force_navigation_;
        void init_node();
        void vis_trajectories();
        void clear_force_markers();
        void vis_destinations();
        std::string target_frame_, robot_frame_;
        bool move_base_mode_, robot_sim_, robot_stop_;
        tf::TransformListener tf_listener_,tf_main_;
        double robot_x_ini_,robot_y_ini_;
    Spose robot_desired_position_;
        string force_map_path_,destination_map_path_;

  public:
    ForceNavigationAlgNode(void);

    ~ForceNavigationAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif