rawlog_record_node.h
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00001 /***********************************************************************************
00002  * Revised BSD License                                                             *
00003  * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
00004  * All rights reserved.                                                            *
00005  *                                                                                 *
00006  * Redistribution and use in source and binary forms, with or without              *
00007  * modification, are permitted provided that the following conditions are met:     *
00008  *     * Redistributions of source code must retain the above copyright            *
00009  *       notice, this list of conditions and the following disclaimer.             *
00010  *     * Redistributions in binary form must reproduce the above copyright         *
00011  *       notice, this list of conditions and the following disclaimer in the       *
00012  *       documentation and/or other materials provided with the distribution.      *
00013  *     * Neither the name of the Vienna University of Technology nor the           *
00014  *       names of its contributors may be used to endorse or promote products      *
00015  *       derived from this software without specific prior written permission.     *
00016  *                                                                                 *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
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00028 
00029 #ifndef MRPT_RAWLOG_RECORD_NODE_H
00030 #define MRPT_RAWLOG_RECORD_NODE_H
00031 
00032 #include <ros/ros.h>
00033 #include <tf/transform_listener.h>
00034 #include <nav_msgs/Odometry.h>
00035 #include <sensor_msgs/LaserScan.h>
00036 #include <dynamic_reconfigure/server.h>
00037 #include "mrpt_rawlog/MotionConfig.h"
00038 #include "mrpt_rawlog_record/rawlog_record.h"
00039 
00041 class RawlogRecordNode : public RawlogRecord {
00042     MRPT_ROS_LOG_MACROS;
00043 public:
00044         struct ParametersNode : public Parameters{
00045         static const int MOTION_MODEL_GAUSSIAN = 0;
00046         static const int MOTION_MODEL_THRUN = 1;
00047                 ParametersNode();
00048         ros::NodeHandle node;
00049         void callbackParameters (mrpt_rawlog::MotionConfig &config, uint32_t level );
00050         dynamic_reconfigure::Server<mrpt_rawlog::MotionConfig> reconfigureServer_;
00051         dynamic_reconfigure::Server<mrpt_rawlog::MotionConfig>::CallbackType reconfigureFnc_;        
00052                 void update(const unsigned long &loop_count);
00053             double rate;
00054         int parameter_update_skip;
00055         std::string tf_prefix;
00056         std::string odom_frame_id;
00057         std::string base_frame_id;
00058         };
00059     
00060     RawlogRecordNode ( ros::NodeHandle &n );
00061     ~RawlogRecordNode();
00062     void init ();
00063     void loop ();
00064     void callbackLaser (const sensor_msgs::LaserScan&);    
00065 private: //functions
00066     ParametersNode *param();
00067     void update ();
00068     void updateLaserPose (std::string frame_id);
00069     ros::Subscriber subLaser0_;
00070     ros::Subscriber subLaser1_;
00071     ros::Subscriber subLaser2_;
00072     tf::TransformListener listenerTF_;
00073     std::map<std::string, mrpt::poses::CPose3D> laser_poses_;
00074     ros::NodeHandle n_;
00075     unsigned long loop_count_;
00076     bool waitForTransform(mrpt::poses::CPose3D &des, const std::string& target_frame, const std::string& source_frame, const ros::Time& time, const ros::Duration& timeout, const ros::Duration& polling_sleep_duration = ros::Duration(0.01));
00077 
00078 
00079 };
00080 
00081 #endif // MRPT_RAWLOG_RECORD_NODE_H


mrpt_rawlog
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autogenerated on Mon Aug 11 2014 11:23:25