trajectory_3Dscans_2_pointcloud_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_3Dscans_2_pointcloud_alg_node_h_
#define _trajectory_3Dscans_2_pointcloud_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "trajectory_3Dscans_2_pointcloud_alg.h"
#include <Eigen/Dense>
// [publisher subscriber headers]
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>

#include <iri_poseslam/Trajectory.h>

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/ros/conversions.h>
#include <pcl_ros/transforms.h>

#include <laser_geometry/laser_geometry.h>
#include <math.h>

// [service client headers]

// [action server client headers]

using namespace Eigen;

class Trajectory3DScans2PointcloudAlgNode : public algorithm_base::IriBaseAlgorithm<Trajectory3DScans2PointcloudAlgorithm>
{
  private:

    Matrix4f T_laser_frame;
    bool emptyPointCloud_, started_;

    // [publisher attributes]
    ros::Publisher slices3D_pointcloud_publisher_;
    sensor_msgs::PointCloud2 PointCloud_msg_;
    
    // [subscriber attributes]
    ros::Subscriber slices3D_subscriber_;
    void slices3D_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    ros::Subscriber trajectory_subscriber_;
    void trajectory_callback(const iri_poseslam::Trajectory::ConstPtr& msg);

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    
    //Buffers
    std::vector<sensor_msgs::PointCloud2> slice_buffer_;
    std::vector<sensor_msgs::PointCloud2> trajectory_slice_buffer_;
    std::vector<std::pair<uint, double> > interpolation_buffer_;

  public:
    Trajectory3DScans2PointcloudAlgNode(void);

    ~Trajectory3DScans2PointcloudAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
    void recompute_PointCloud_msg(const iri_poseslam::Trajectory& trajectory);

    sensor_msgs::PointCloud2 transform_point_cloud(const sensor_msgs::PointCloud2& pcloud, const geometry_msgs::Pose& pose);
    
    void add_to_PointCloud_msg(const sensor_msgs::PointCloud2& newPointCloud);
    
    void clear_PointCloud_msg();
    
    geometry_msgs::Pose interpole_slice_pose(const uint& id, const iri_poseslam::Trajectory& trajectory) const;
    
    std::pair<uint,double> search_interpolation(const sensor_msgs::PointCloud2& slice, const iri_poseslam::Trajectory& trajectory) const;
    
    Matrix4f transformation_matrix(const float x, const float y, const float z, const float alpha) const;

    double pi_2_pi(const double& angle) const;
};

#endif