laser_people_detection_alg_node.h

Go to the documentation of this file.

// 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 _laser_people_detection_alg_node_h_
#define _laser_people_detection_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "laser_people_detection_alg.h"

// [publisher subscriber headers]
#include <sensor_msgs/LaserScan.h>
#include <visualization_msgs/MarkerArray.h>
#include <iri_perception_msgs/detectionArray.h>

// [service client headers]

// [action server client headers]

#include <tf/transform_listener.h>

class LaserPeopleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<LaserPeopleDetectionAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher peopleMarkers_array_publisher_;
    visualization_msgs::MarkerArray MarkerArray_msg_;

    ros::Publisher people_publisher_;
    iri_perception_msgs::detectionArray detectionArray_msg_;

    // [subscriber attributes]
    ros::Subscriber scan_subscriber_;
    void scan_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex scan_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    // [class atributes]
    CEventServer * event_server_;
    std::string new_laser_event_id_;

    sensor_msgs::LaserScan currentScan;

    void init();
    void transformPoses(iri_perception_msgs::detectionArray & peoplePoses);
    void filterPoses(iri_perception_msgs::detectionArray & peoplePoses);
    void getPeopleMarkers(iri_perception_msgs::detectionArray & peopleList, visualization_msgs::MarkerArray & people);

    double rangeThreshold;
    double detectionThreshold;
    double markerWidth;
    double markerHeight;
    double markerR;
    double markerG;
    double markerB;
    double markerA;

    bool filterPosesMode;
    double filterR;
    double filterX;
    double filterY;

    tf::TransformListener tf_listener_;
    std::string target_frame;

    bool selectPosesFrame;
    bool selectScanFrame;
    std::string scanFrame;

  public:
    LaserPeopleDetectionAlgNode(void);

    ~LaserPeopleDetectionAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]

    // [test functions]
};

#endif