kinton_vs_control_sim_alg_node.h

Go to the documentation of this file.

// 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 _kinton_vs_control_alg_node_h_
#define _kinton_vs_control_alg_node_h_

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

#include <Eigen/Dense>
#include <Eigen/Eigenvalues>
#include <Eigen/SVD>

#include <tf/transform_listener.h>

// [publisher subscriber headers]
#include <geometry_msgs/TwistWithCovariance.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>


// [service client headers]

// [action server client headers]

class KintonVsControlAlgNode : public algorithm_base::IriBaseAlgorithm<KintonVsControlAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher cmd_vel_publisher_;
    geometry_msgs::Twist cmd_vel_;

    // [subscriber attributes]
    ros::Subscriber cam_vel_subscriber_;
    void cam_vel_callback(const geometry_msgs::TwistWithCovariance::ConstPtr& msg);
    CMutex cam_vel_mutex_;
    ros::Subscriber odom_subscriber_;
    void odom_callback(const nav_msgs::Odometry::ConstPtr& msg);
    CMutex odom_mutex_;

    bool activate_; //When to activate the servoing

    Eigen::Matrix4d T_quad_to_cam_; //Homogenous transform between Quadrotor and camera frames

    Eigen::MatrixXd quad_twist_; //Actual velocity of the quadrotor from the odometry
    Eigen::MatrixXd cam_twist_; //Actual velocity of the camera from the visual servo

    double roll_, pitch_; //Quadrotor angles r.t. inertial frame

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

  public:
    KintonVsControlAlgNode(void);

    ~KintonVsControlAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]

    Eigen::MatrixXd cam_to_quad_vel();

    Eigen::Matrix4d getTransform(const tf::StampedTransform& transform);
};

#endif