trajectory_2_markers_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 _trajectory_2_markers_alg_node_h_
#define _trajectory_2_markers_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "trajectory_2_markers_alg.h"

#include <Eigen/Core>
#include <Eigen/Eigenvalues>

// [publisher subscriber headers]
#include <iri_poseslam/Trajectory.h>
#include <visualization_msgs/MarkerArray.h>
#include <visualization_msgs/Marker.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>

// [service client headers]

// [action server client headers]

class Trajectory2MarkersAlgNode : public algorithm_base::IriBaseAlgorithm<Trajectory2MarkersAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher CovarianceMarkers_publisher_;
    ros::Publisher TrajectoryMarkers_publisher_;
    ros::Publisher ActualPoseMarker_publisher_;
    
    visualization_msgs::MarkerArray covariance_markers_;
    visualization_msgs::Marker loops_marker_;
    visualization_msgs::Marker trajectory_marker_;
    visualization_msgs::Marker actual_marker_;
    
    // [subscriber attributes]
    ros::Subscriber trajectory_subscriber_;
    void trajectory_callback(const iri_poseslam::Trajectory::ConstPtr& msg);

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    std::vector<bool> loop_step_;
    uint nLoops_;

    Config config_;

  public:
    Trajectory2MarkersAlgNode(void);

    ~Trajectory2MarkersAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    void initialize_markers();
    
    void drawTrajectory(const iri_poseslam::Trajectory& msg);
   
    visualization_msgs::MarkerArray get_trajectory_marker() const;
    
    visualization_msgs::Marker get_actual_marker() const;
    
    visualization_msgs::MarkerArray get_covariance_markers() const;
    
    visualization_msgs::Marker create_marker(const uint& id, const std_msgs::Header& header, const Eigen::Matrix2d& covs, const double& theta_cov, const geometry_msgs::Point& position, const bool& loopClosure) const;
    
    void change_actual_marker(const Eigen::Matrix2d& covs, const double& theta_cov, const geometry_msgs::Point& position, const bool& loopClosure);
    
    Eigen::Matrix2d get_ith_cov(const iri_poseslam::Trajectory& msg, const uint i) const;
    
    double get_ith_theta_cov(const iri_poseslam::Trajectory& msg, const uint i) const;
};

#endif