ual_catec_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 _ual_catec_alg_node_h_
#define _ual_catec_alg_node_h_

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

// [publisher subscriber headers]
#include <ar_pose/ARMarkers.h>
#include <catec_msgs/ControlReferenceRwStamped.h>
#include <catec_msgs/UALStateStamped.h>

#include <tf/transform_datatypes.h>

// [service client headers]

// [action server client headers]
#include <catec_actions_msgs/TakeOffAction.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <catec_actions_msgs/LandAction.h>

#include <Eigen/Dense>
#include <Eigen/Eigenvalues>
#include <eigen_conversions/eigen_kdl.h>

//Vicon to Quaternion
#include "rotateOP/Quaternion.h"

using namespace std;

class UalCatecAlgNode : public algorithm_base::IriBaseAlgorithm<UalCatecAlgorithm>
{
  private:
    
    bool LandGoalSended_,TakeOffGoalSended_,go_initial_tag_pose_,take_off_action_,land_action_,tag_detected_,land_position_ok_,land_position_fixed_;
    double seq_,quad_x_,quad_y_,quad_z_,quad_yaw_,tag_x_,tag_y_,tag_z_,tag_yaw_,goal_x_,goal_y_,goal_z_,goal_yaw_,dist_to_tag_,ini_pos_x_,ini_pos_y_,ini_pos_z_,ini_pos_yaw_,cruise_,marker_cruise_,goal_cruise_,yaw_cruise_;
    Eigen::MatrixXf land_pos_; 
    
    int fixed_to_id_;
    
    btMatrix3x3 body_earth_rot_;
    
    geometry_msgs::Pose pose_;
    ros::Time t_,last_t_tag_;
    
    // [publisher attributes]
    ros::Publisher control_references_rw_publisher_;
    catec_msgs::ControlReferenceRwStamped ControlReferenceRwStamped_msg_;

    // [subscriber attributes]
    ros::Subscriber input_tag_subscriber_;
    void input_tag_callback(const ar_pose::ARMarkers::ConstPtr& msg);
    CMutex input_tag_mutex_;
    ros::Subscriber ual_state_subscriber_;
    void ual_state_callback(const catec_msgs::UALStateStamped::ConstPtr& msg);
    CMutex ual_state_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<catec_actions_msgs::TakeOffAction> take_off_action_client_;
    catec_actions_msgs::TakeOffGoal take_off_action_goal_;
    void take_off_actionMakeActionRequest();
    void take_off_actionDone(const actionlib::SimpleClientGoalState& state,  const catec_actions_msgs::TakeOffResultConstPtr& result);
    void take_off_actionActive();
    void take_off_actionFeedback(const catec_actions_msgs::TakeOffFeedbackConstPtr& feedback);

    actionlib::SimpleActionClient<catec_actions_msgs::LandAction> land_action_client_;
    catec_actions_msgs::LandGoal land_action_goal_;
    void land_actionMakeActionRequest();
    void land_actionDone(const actionlib::SimpleClientGoalState& state,  const catec_actions_msgs::LandResultConstPtr& result);
    void land_actionActive();
    void land_actionFeedback(const catec_actions_msgs::LandFeedbackConstPtr& feedback);

    string takeOffMessage(const catec_actions_msgs::TakeOffResultConstPtr& result);
    string landMessage(const catec_actions_msgs::LandResultConstPtr& result);
    
  public:
    UalCatecAlgNode(void);

    ~UalCatecAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif