poseslam_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 _poseslam_alg_node_h_
#define _poseslam_alg_node_h_

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

// [publisher subscriber headers]
#include <iri_poseslam/Trajectory.h>

// [service client headers]
#include <iri_poseslam/GetLink.h>

// [action server client headers]

#include <std_msgs/Header.h>

class PoseslamAlgNode : public algorithm_base::IriBaseAlgorithm<PoseslamAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher trajectory_publisher_;
    ros::Publisher no_loops_trajectory_publisher_;
    iri_poseslam::Trajectory Trajectory_msg_;
    iri_poseslam::Trajectory Trajectory_msg_no_loops_;
    std::vector<uint> loops_;
    std::vector<VectorXd> Trajectory_poses_;

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]
    ros::ServiceClient get_link_client_;
    iri_poseslam::GetLink get_link_srv_;
    
    // [action server attributes]

    // [action client attributes]
    
    // POSE SLAM
    uint step_;
    uint ended;
    double dz_footprint_2_base_;
    
  public:
    PoseslamAlgNode(void);

    ~PoseslamAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);
    
    void augment_trajectories(const std_msgs::Header& header);

    void update_trajectories(const bool& LoopClosed);

    void print_results() const;

    void recompute_trajectory();
    
    std::vector<VectorXd> recompute_segment(const VectorXd& new_initial_pose, const VectorXd& new_final_pose, const int& initial_step, const int& final_step);

    geometry_msgs::PoseWithCovarianceStamped create_PoseWithCovarianceStamped(const std_msgs::Header& header, const VectorXd& last_pose, const std::vector<double>& last_cov);

    geometry_msgs::PoseWithCovariance create_PoseWithCovariance(const VectorXd& last_pose, const std::vector<double>& last_cov);
    
    MatrixXd rotation_matrix(const double &alpha) const;

    double angle_between_2D_vectors(const Vector2d& v, const Vector2d& w) const;

    double pi_2_pi(const double& angle) const;

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

#endif