RosTaxelsTransformNode.h

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/*
 * M3 Component to abstract PDO over serial (rather than ethercat)
 * Copyright (C) 2011  Meka Robotics
 * Author: Pierre-Luc Bacon <pierrelucbacon@mekabot.com>
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 */

#ifndef ROSTAXELSTRANSFORMNODE_H_
#define ROSTAXELSTRANSFORMNODE_H_

#include <m3skin_ros/RawTaxelArray.h>
#include <m3skin_ros/TaxelArray.h>

#include <ros/ros.h>
#include <geometry_msgs/Transform.h>

 #include <tf/transform_broadcaster.h>

namespace m3 {

class RosTaxelsTransformNode {
public:
        RosTaxelsTransformNode();
        virtual ~RosTaxelsTransformNode();

        void Init(unsigned calibration_samples = 0);

        void SetCalibrateMode(bool on);

        bool IsCalibrateMode();

        static const double MAX_VALUE = 30;

protected:
        void TransformMessage(const m3skin_ros::RawTaxelArray::ConstPtr& msg);

        virtual m3skin_ros::RawTaxelArray FilterRaw(const m3skin_ros::RawTaxelArray::ConstPtr& msg);

        void GetTaxelTransforms();

        void GetLinkName();

        tf::Transform GeometryTransformToTf(geometry_msgs::Transform& gtf);

        void CalibrateBias(std::vector<int> values);

private:

        void InitStaticVectors();

        double GetUnbiased(unsigned value, unsigned index);

        ros::NodeHandle n;
        ros::Publisher publisher;
        ros::Subscriber subscriber;
        ros::ServiceClient local_coords_client;
        ros::ServiceClient link_name_client;

        std::vector<geometry_msgs::Transform> transforms;
        std::vector<tf::Transform> fullTfs;

        std::vector<tf::Vector3> centers;
        std::vector<tf::Vector3> normals;

        std::vector<double> biases;
        unsigned number_samples;
        unsigned number_samples_target;
        bool calibrating;

        std::string linkName;

        static const unsigned number_taxels = 384; // TODO Get this value from the server
};

}

#endif /* ROSTAXELSTRANSFORMNODE_H_ */