roch_sensorpc.hpp

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/*
 * Copyright (c) 2013, Yujin Robot.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Yujin Robot nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef _ROCH_SENSORPC_HPP_
#define _ROCH_SENSORPC_HPP_

/*****************************************************************************
 ** Includes
 *****************************************************************************/

#include <ros/ros.h>

#include <sensor_msgs/PointCloud2.h>

#include <roch_msgs/SensorState.h>

/*****************************************************************************
 ** Namespace
 *****************************************************************************/

namespace roch_sensorpc
{

class SensorPcNodelet 
{
public:
  SensorPcNodelet(ros::NodeHandle nh_, ros::NodeHandle private_nh)
    : P_INF_X(+100*sin(0.34906585)),
      P_INF_Y(+100*cos(0.34906585)),
      N_INF_Y(-100*cos(0.34906585)),
      ZERO(0),  prev_leftcliff(0), prev_rightcliff(0), prev_leftult(0), prev_centerult(0), prev_rightult(0), prev_leftpsd(0), prev_centerpsd(0), prev_rightpsd(0),
      ult_enable_(true),psd_enable_(true),cliff_enable_(true),
      nh(nh_),private_nh_(private_nh){ onInit(); }
  ~SensorPcNodelet() { }

  void onInit();

private:
  const float P_INF_X;  // somewhere out of reach from the robot (positive x)
  const float P_INF_Y;  // somewhere out of reach from the robot (positive y)
  const float N_INF_Y;  // somewhere out of reach from the robot (negative y)
  const float ZERO;

  uint8_t prev_leftcliff;
  uint8_t prev_rightcliff;
  uint8_t prev_leftult;
  uint8_t prev_centerult;
  uint8_t prev_rightult;
  uint8_t prev_leftpsd;
  uint8_t prev_centerpsd;
  uint8_t prev_rightpsd;

  float pc_radius_;
  float pc_height_;
  float p_side_x_;
  float p_side_y_;
  float n_side_y_;
  
  bool ult_enable_;
  bool psd_enable_;
  bool cliff_enable_;

  ros::Publisher  pointcloud_pub_;
  ros::Subscriber core_sensor_sub_;

  ros::NodeHandle nh ;
  ros::NodeHandle private_nh_ ;
  sensor_msgs::PointCloud2 pointcloud_;

  void coreSensorCB(const roch_msgs::SensorState::ConstPtr& msg);
};

} // namespace roch_bumper2pc

#endif // _ROCH_SENSORPC_HPP_