sensors_2_link_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 _sensors_2_link_alg_node_h_
#define _sensors_2_link_alg_node_h_

#include <Eigen/Dense>

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "sensors_2_link_alg.h"
#include <tf/transform_datatypes.h>

// [publisher subscriber headers]
#include <sensor_msgs/LaserScan.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>

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

// [action server client headers]

using namespace Eigen;

class Sensors2LinkAlgNode : public algorithm_base::IriBaseAlgorithm<Sensors2LinkAlgorithm>
{
  private:
    // [publisher attributes]
    
    // [subscriber attributes]
    ros::Subscriber scan_subscriber_;
    void scan_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    
    ros::Subscriber odom_relative_subscriber_;
    void odom_relative_callback(const nav_msgs::Odometry::ConstPtr& msg);

    ros::Subscriber cmd_vel_subscriber_;
    void cmd_vel_callback(const geometry_msgs::Twist::ConstPtr& msg);
    
    // [service attributes]
    ros::ServiceServer get_link_server_;
    bool get_linkCallback(iri_poseslam::GetLink::Request &req, iri_poseslam::GetLink::Response &res);

    // [client attributes]
    ros::ServiceClient get_relative_pose_client_;
    iri_laser_icp::GetRelativePose get_relative_pose_srv_;

    // [action server attributes]

    // [action client attributes]
    
    // VARIABLES
    // Last laser scans
    sensor_msgs::LaserScan last_laser_scan_, ready_laser_scan_;
    // State booleans
    bool new_laser_scan_, fusion_ready_;
    uint ready_odom_id_, prev_seq;
    // Accumulated relative odometry
    Vector3d odom_rel_, d_local;
    Matrix3d odom_rel_cov_, Jp, Jd, Q;
    ros::Time odom_rel_time_;
    // Buffers
    std::vector<geometry_msgs::PoseWithCovarianceStamped> odom_buffer_;
    std::vector<sensor_msgs::LaserScan> laser_scan_buffer_;
    std::vector<Vector3d> odom_rel_buffer_;
    std::vector<Matrix3d> odom_rel_cov_buffer_;
    std::vector<ros::Time> odom_rel_time_buffer_;

    bool online_mode, stopped_since_last_odom, currently_stopped;
    double ICP_covariance_correction_factor;
    Vector3d d_base_2_laser;
    
  public:
    Sensors2LinkAlgNode(void);

    ~Sensors2LinkAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);
    
   geometry_msgs::PoseWithCovarianceStamped odometry_fusion(const sensor_msgs::LaserScan &laser_scan, const int &odom_rel_idx);

   Matrix3d rotation_matrix(const double &alpha) const;
   
   Matrix3d covariance_2_matrix(const geometry_msgs::PoseWithCovariance &pose) const;
   
   Vector3d pose_2_vector(const geometry_msgs::Pose &pose) const;
   
   geometry_msgs::PoseWithCovariance eigen_2_posewithcovariance(const Vector3d &p, const Matrix3d &cov) const;

   geometry_msgs::Pose vector_2_pose(const Vector3d &p) const;

   iri_poseslam::GetLink::Response offline_odometry();

   iri_poseslam::GetLink::Response online_odometry();

   std::pair<Vector3d, Matrix3d> interpolate_odom_rel(const int &odom_rel_idx, const ros::Time scan_stamp);

   void base_2_laser_frame(Vector3d &prior_d);

   void laser_2_base_frame(Vector3d &odom_ICP, Matrix3d &odom_ICP_cov);
    // [diagnostic functions]
    
    // [test functions]
};

#endif