zyonz_geometric_based_single_leaf_probing_alg.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 _zyonz_geometric_based_single_leaf_probing_alg_h_
#define _zyonz_geometric_based_single_leaf_probing_alg_h_

#include <zyonz_geometric_based_single_leaf_probing/ZyonzGeometricBasedSingleLeafProbingConfig.h>
#include "mutex.h"
#include <sensor_msgs/PointCloud2.h>
#include <zyonz_msgs/ProbingSteps.h>
#include <geometry_msgs/PoseArray.h>
#include <visualization_msgs/Marker.h>
#include <pcl_ros/transforms.h>
#include <tf/transform_listener.h>
//include zyonz_geometric_based_single_leaf_probing_alg main library

class ZyonzGeometricBasedSingleLeafProbingAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    visualization_msgs::Marker Marker_msg_;
    Eigen::Vector4f leaf_centroid_;
    Eigen::Quaternionf leaf_pose_;
    zyonz_msgs::ProbingSteps probing_step_;
    tf::TransformListener tf_listener_;
  public:
    typedef zyonz_geometric_based_single_leaf_probing::ZyonzGeometricBasedSingleLeafProbingConfig Config;

    Config config_;

    ZyonzGeometricBasedSingleLeafProbingAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    bool get_leaf_probing_point(const sensor_msgs::PointCloud2::ConstPtr &msg);
    visualization_msgs::Marker getMarker();
    Eigen::Vector4f getLeafCentroid();
    Eigen::Quaternionf getLeafPose();
    zyonz_msgs::ProbingSteps getProbingSteps();

    // here define all zyonz_geometric_based_single_leaf_probing_alg interface methods to retrieve and set
    // the driver parameters

    ~ZyonzGeometricBasedSingleLeafProbingAlgorithm(void);
};

#endif