Quadrotor_tk_Handler.h

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// Copyright 2006-2013 Dr. Marc Andreas Freese. All rights reserved. 
// marc@coppeliarobotics.com
// www.coppeliarobotics.com
// 
// -------------------------------------------------------------------
// This file 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.
// 
// You are free to use/modify/distribute this file for whatever purpose!
// -------------------------------------------------------------------
//
// This file was automatically created for V-REP release V3.0.5 on October 26th 2013

#ifndef QUADROTOR_TK_HANDLER_H
#define QUADROTOR_TK_HANDLER_H

#include "vrep_ros_plugin/GenericObjectHandler.h"

#include "vrep_ros_plugin/access.h"
#include <ros/time.h>
#include <telekyb_msgs/TKMotorCommands.h>
#include <telekyb_msgs/TKCommands.h>

class Quadrotor_tk_Handler : public GenericObjectHandler
{
public:
        Quadrotor_tk_Handler();
        ~Quadrotor_tk_Handler();

        void synchronize();
        void handleSimulation();
        unsigned int getObjectType() const;

protected:

        void _initialize();
        ros::Time _previousTime;
        float _integralTermRoll;
        float _integralTermPitch;

        float _torqueToForceRatio;

        int _handleOfJoint[4];

        int _handleOfCoM;

        simFloat _quadrotorMass;

        simFloat _jointPosition[4][3];

        ros::Publisher _pub;

        ros::Publisher _pubIMU;

        ros::Subscriber _sub;

        ros::Time _lastReceivedCmdTime;

        ros::Time _lastPrintedMsg;

        std::vector<double> _tkMotorCommands;

        telekyb_msgs::TKCommands _tkCommands;

        simFloat _att_cutoff;

        simFloat _att_damping;

        simFloat _kp_yaw;

        CustomDataHeaders::QuadrotorCtrlMode _ctrlMode;

        void tkMotorCommandsCallback(const telekyb_msgs::TKMotorCommands::ConstPtr& msg);

        void tkCommandsCallback(const telekyb_msgs::TKCommands::ConstPtr& msg);
};


#endif // ndef QUADROTOR_TK_HANDLER_H