uncalibvs_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 _uncalibvs_alg_node_h_
#define _uncalibvs_alg_node_h_

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

// [publisher subscriber headers]
#include <iri_uncalibvs/control.h>
#include <asctec_msgs/LLStatus.h>
#include <mav_msgs/Height.h>
#include <sensor_msgs/Imu.h>
#include <mav_msgs/Status.h>
#include <std_msgs/Float64.h>
#include <std_msgs/Bool.h>
#include <asctec_msgs/CtrlInput.h>
#include <asctec_msgs/ControllerOutput.h>
#include <asctec_msgs/IMUCalcData.h>


#include <geometry_msgs/Twist.h>
#include <ar_pose/ARMarkers.h>

#include <bitset>
#include <tf/transform_listener.h>
#include <kdl_parser/kdl_parser.hpp>

#include <control_toolbox/pid.h>

// [service client headers]

// [action server client headers]


class UncalibvsAlgNode : public algorithm_base::IriBaseAlgorithm<Uncalibvs_Algorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher body_twist_publisher_;
    geometry_msgs::Twist body_twist_msg_;
    ros::Publisher yaw_control_publisher_;
    iri_uncalibvs::control yaw_control_msg_;
    ros::Publisher pitch_control_publisher_;
    iri_uncalibvs::control pitch_control_msg_;
    ros::Publisher roll_control_publisher_;
    iri_uncalibvs::control roll_control_msg_;
    ros::Publisher thrust_control_publisher_;
    iri_uncalibvs::control thrust_control_msg_;
    ros::Publisher state_publisher_;
    mav_msgs::Status Status_msg_;
    ros::Publisher cmd_yaw_publisher_;
    std_msgs::Float64 cmd_yaw_msg_;
    ros::Publisher cmd_pitch_publisher_;
    std_msgs::Float64 cmd_pitch_msg_;
    ros::Publisher cmd_roll_publisher_;
    std_msgs::Float64 cmd_roll_msg_;
    ros::Publisher cmd_thrust_publisher_;
    std_msgs::Float64 cmd_thrust_msg_;
    ros::Publisher ESTOP_publisher_;
    std_msgs::Bool Bool_msg_;
    geometry_msgs::Twist twist_quad_,twist_quad_asctec_,twist_ctrl_out_;    

    // [subscriber attributes]
    ros::Subscriber ll_status_subscriber_;
    void ll_status_callback(const asctec_msgs::LLStatus::ConstPtr& msg);
    CMutex ll_status_mutex_;
    ros::Subscriber height_subscriber_;
    void height_callback(const mav_msgs::Height::ConstPtr& msg);
    CMutex height_mutex_;
    ros::Subscriber imu_subscriber_;
    void imu_callback(const sensor_msgs::Imu::ConstPtr& msg);
    CMutex imu_mutex_;
    ros::Subscriber model_state_subscriber_;
    void model_state_callback(const asctec_msgs::IMUCalcData::ConstPtr& msg);
    CMutex model_state_mutex_;
    void input_tag_callback(const ar_pose::ARMarkers::ConstPtr& msg);
    CMutex input_tag_mutex_;
    ros::Subscriber input_tag_subscriber_;
   
    Uncalibvs_Algorithm uncalib_vs_alg_;

    bool init_,activate_,traditional_,random_points_,quadrotor_,output_files_,estop_,serial_,calibrated_ctrl_;

    double lambda_,final_z_,ENUyaw_,ENUyaw_fix_,height_,height_fix_,tag_thrust_kp_,tag_thrust_kd_,tag_roll_kp_,tag_roll_kd_,tag_pitch_kp_,tag_pitch_kd_,tag_yaw_kp_,tag_yaw_kd_,thrust_kp_,thrust_kd_,roll_kp_,roll_kd_,pitch_kp_,pitch_kd_,yaw_kp_,yaw_kd_,sat_min_,sat_max_,rollpitch_sat_min_,rollpitch_sat_max_,yaw_sat_min_,yaw_sat_max_,ctrl_ref_,angle_pitch_,angle_roll_,trimm_y_,trimm_x_,buff_speed_;
    
    std::string path_;

    control_toolbox::Pid tag_pid_thrust_,tag_pid_roll_,tag_pid_pitch_,tag_pid_yaw_,pid_thrust_,pid_roll_,pid_pitch_,pid_yaw_;
    
    ros::Time time_,time_last_;
    
    int rollpitch_div_;
    
    Eigen::Matrix3f Rquad_inertial_;
    Eigen::MatrixXf tag_error_,error_;
    
    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]



  public:
    UncalibvsAlgNode(void);

    ~UncalibvsAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif