tibi_dabo_pitch_estimator_sin_laser_vertical_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 _tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node_h_
#define _tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node_h_

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

// [publisher subscriber headers]
#include <visualization_msgs/MarkerArray.h>
#include <sensor_msgs/LaserScan.h>
#include <iri_segway_rmp_msgs/SegwayRMP200Status.h>
#include <string>
#define PI 3.14159265358
// [service client headers]

// [action server client headers]

class TibiDaboPitchEstimatorSinLaserVerticalAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboPitchEstimatorSinLaserVerticalAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher MarkerArray_lines_publisher_;
    visualization_msgs::MarkerArray MarkerArray_msg_;
    ros::Publisher front_laser_filtrado_publisher_;
    sensor_msgs::LaserScan LaserScan_front_msg_;
    ros::Publisher rear_laser_filtrado_publisher_;
    sensor_msgs::LaserScan LaserScan_rear_msg_;
    
    // [subscriber attributes]
    ros::Subscriber front_laser_subscriber_;
    void front_laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex front_laser_mutex_;
    
    ros::Subscriber rear_laser_subscriber_;
    void rear_laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex rear_laser_mutex_;
      
    ros::Subscriber pitch_subscriber_;
    void pitch_callback(const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr& msg);
    CMutex pitch_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
  
    
 //node functions.      
 
 void function_markers(double pitch);
 void marker_point_front_laser_node(double front_laser_point_x, double front_laser_point_y);  
 
    //variables and functions to fill the visualization messages
        
        visualization_msgs::Marker pitch_arrow_marker_;
        visualization_msgs::Marker floor_line_marker_;
        visualization_msgs::Marker distance_front_laser_marker6_;
        visualization_msgs::Marker arrow_intersection_;
     //my stuff
  
  double a1_,b1_,pitch;
        double front_laser_point_x,front_laser_point_y, rear_laser_point_x,rear_laser_point_y;
double front_security_distance_,rear_security_distance_;

  public:
    TibiDaboPitchEstimatorSinLaserVerticalAlgNode(void);

    ~TibiDaboPitchEstimatorSinLaserVerticalAlgNode(void);

 




  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif