uncalibvs_sim_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_sim_alg_node_h_
#define _uncalibvs_sim_alg_node_h_

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

// [publisher subscriber headers]
#include <sensor_msgs/JointState.h>
#include <gazebo_msgs/ModelStates.h>
#include <geometry_msgs/Twist.h>
#include <ar_pose/ARMarkers.h>

// [service client headers]

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

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



class Uncalibvs_simAlgNode : public algorithm_base::IriBaseAlgorithm<Uncalibvs_simAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher joints_pub_publisher_;
    sensor_msgs::JointState JointState_msg_;
    ros::Publisher output_publisher_,output_publisher_pose_;
    geometry_msgs::Twist Twist_msg_;

    // [subscriber attributes]
    ros::Subscriber model_state_subscriber_;
    void model_state_callback(const gazebo_msgs::ModelStates::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_simAlgorithm uncalib_vs_sim_alg;

    bool mutex, init_, ini_vars_;
    geometry_msgs::Pose pose_;
    geometry_msgs::Twist twist_quad_;
    
    ros::Time t_,t_old_;

    //Dynamic reconfigure vars
    bool activate_,traditional_,random_points_,quadrotor_,output_files_,arm_unina_,arm_catec_;
    double  lambda_,dist_to_tag_,fixed_to_id_;
    int num_joints_;
    std::string path_;

    KDL::Chain kdl_chain_;
    Eigen::MatrixXf q_,lambda_robot_;
    Eigen::Matrix3f Rquad_inertial_;
    
    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]



  public:
    Uncalibvs_simAlgNode(void);

    ~Uncalibvs_simAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif