SimSensors.hpp

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*  Author: Dula Nad
*  Created: 01.02.2013.
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#ifndef SIMSENSORS_HPP_
#define SIMSENSORS_HPP_
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>

namespace labust
{
        namespace simulation
        {
                class RBModel;

                class SimSensorInterface
                {
                public:
                        struct Hook
                        {
                                Hook(const RBModel& model,
                                                tf::TransformBroadcaster& broadcaster,
                                                tf::TransformListener& listener,
                                                bool noisy = false):
                                                        model(model),
                                                        broadcaster(broadcaster),
                                                        listener(listener),
                                                        noisy(noisy){};

                                const RBModel& model;
                                tf::TransformBroadcaster& broadcaster;
                                tf::TransformListener& listener;
                                bool noisy;
                                mutable double originLat, originLon;
                        };

                        typedef boost::shared_ptr<SimSensorInterface> Ptr;
                        virtual ~SimSensorInterface(){};
                        virtual void step(const Hook& data) = 0;
                        virtual void configure(ros::NodeHandle& nh, const std::string& topic_name) = 0;
                };

                template <class ROSMsg, class functor>
                class BasicSensor : public SimSensorInterface
                {
                public:
                        BasicSensor(){};
                        ~BasicSensor(){};

                        void configure(ros::NodeHandle& nh, const std::string& topic_name)
                        {
                                pub = nh.advertise<ROSMsg>(topic_name,1);
                        };

                        void step(const Hook& data)
                        {
                                typename ROSMsg::Ptr msg(new ROSMsg());
                                sensor(msg, data);
                                pub.publish(msg);
                        }

                private:
                                ros::Publisher pub;
                                functor sensor;
                };
        }
}

/* SIMSENSORS_HPP_ */
#endif