iri_people_tracking_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 _iri_people_tracking_alg_node_h_
#define _iri_people_tracking_alg_node_h_

#include <tf/tfMessage.h>
#include <tf/transform_broadcaster.h>
#include <iri_base_algorithm/iri_base_algorithm.h>
#include "iri_people_tracking_alg.h"

// [publisher subscriber headers]
#include <iri_perception_msgs/detectionArray.h>
#include <iri_perception_msgs/peopleTrackingArray.h>
#include <nav_msgs/Odometry.h>
#include <visualization_msgs/MarkerArray.h>

// [service client headers]

// [action server client headers]
#include <iri_action_server/iri_action_server.h>
#include <iri_perception_msgs/peopleTrackAction.h>

//library includes
#include "peopleTracker.h"

class IriPeopleTrackingAlgNode : public algorithm_base::IriBaseAlgorithm<IriPeopleTrackingAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher peopleSet_publisher_;
    iri_perception_msgs::peopleTrackingArray peopleTrackingArray_msg_;
    ros::Publisher particleSet_publisher_;
    visualization_msgs::MarkerArray MarkerArray_msg_;

    // [subscriber attributes]
    ros::Subscriber people_detection_subscriber_;
    void people_detection_callback(const iri_perception_msgs::detectionArray::ConstPtr& msg);
    CMutex people_detection_mutex_;
    ros::Subscriber platformOdometry_subscriber_;
    void platformOdometry_callback(const nav_msgs::Odometry::ConstPtr& msg);
    CMutex platformOdometry_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]
    IriActionServer<iri_perception_msgs::peopleTrackAction> people_tracking_aserver_;
    void people_trackingStartCallback(const iri_perception_msgs::peopleTrackGoalConstPtr& goal);
    void people_trackingStopCallback(void);
    bool people_trackingIsFinishedCallback(void);
    bool people_trackingHasSucceedCallback(void);
    void people_trackingGetResultCallback(iri_perception_msgs::peopleTrackResultPtr& result);
    void people_trackingGetFeedbackCallback(iri_perception_msgs::peopleTrackFeedbackPtr& feedback);

    // [action client attributes]
    
    //library objects
    CpeopleTracker tracker;
    CodometryObservation odometry;
    std::string people_detector_frame_id_;
    ros::Time people_detector_stamp_;

    void fillTopicMsgs(std::list<CpeopleTrackingObservation> & peopleList);
    
      
    double markerSize;
    double markerR;
    double markerG;
    double markerB;

  public:
    IriPeopleTrackingAlgNode(void);

    ~IriPeopleTrackingAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif