vrpn_client_ros.h
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00001 
00032 #ifndef VRPN_CLIENT_ROS_VRPN_CLIENT_ROS_H
00033 #define VRPN_CLIENT_ROS_VRPN_CLIENT_ROS_H
00034 
00035 #include "vrpn_client_ros/vrpn_client_ros.h"
00036 
00037 #include "ros/ros.h"
00038 #include "geometry_msgs/PoseStamped.h"
00039 #include "geometry_msgs/TwistStamped.h"
00040 #include "geometry_msgs/AccelStamped.h"
00041 #include "geometry_msgs/TransformStamped.h"
00042 
00043 #include <vrpn_Tracker.h>
00044 #include <vrpn_Connection.h>
00045 #include <map>
00046 #include <string>
00047 #include <unordered_map>
00048 
00049 namespace vrpn_client_ros
00050 {
00051 
00052   typedef std::shared_ptr<vrpn_Connection> ConnectionPtr;
00053   typedef std::shared_ptr<vrpn_Tracker_Remote> TrackerRemotePtr;
00054 
00055   class VrpnTrackerRos
00056   {
00057   public:
00058 
00059     typedef std::shared_ptr<VrpnTrackerRos> Ptr;
00064     VrpnTrackerRos(std::string tracker_name, ConnectionPtr connection, ros::NodeHandle nh);
00065 
00070     VrpnTrackerRos(std::string tracker_name, std::string host, ros::NodeHandle nh);
00071 
00072     ~VrpnTrackerRos();
00073 
00077     void mainloop();
00078 
00079   private:
00080     TrackerRemotePtr tracker_remote_;
00081     std::vector<ros::Publisher> pose_pubs_, twist_pubs_, accel_pubs_;
00082     ros::NodeHandle output_nh_;
00083     bool use_server_time_, broadcast_tf_, process_sensor_id_;
00084     std::string tracker_name;
00085 
00086     ros::Timer mainloop_timer;
00087 
00088     geometry_msgs::PoseStamped pose_msg_;
00089     geometry_msgs::TwistStamped twist_msg_;
00090     geometry_msgs::AccelStamped accel_msg_;
00091     geometry_msgs::TransformStamped transform_stamped_;
00092 
00093     void init(std::string tracker_name, ros::NodeHandle nh, bool create_mainloop_timer);
00094 
00095     static void VRPN_CALLBACK handle_pose(void *userData, const vrpn_TRACKERCB tracker_pose);
00096 
00097     static void VRPN_CALLBACK handle_twist(void *userData, const vrpn_TRACKERVELCB tracker_twist);
00098 
00099     static void VRPN_CALLBACK handle_accel(void *userData, const vrpn_TRACKERACCCB tracker_accel);
00100   };
00101 
00102   class VrpnClientRos
00103   {
00104   public:
00105 
00106     typedef std::shared_ptr<VrpnClientRos> Ptr;
00107     typedef std::unordered_map<std::string, VrpnTrackerRos::Ptr> TrackerMap;
00108 
00112     VrpnClientRos(ros::NodeHandle nh, ros::NodeHandle private_nh);
00113 
00114     static std::string getHostStringFromParams(ros::NodeHandle host_nh);
00115 
00119     void mainloop();
00120 
00124     void updateTrackers();
00125 
00126   private:
00127     std::string host_;
00128     ros::NodeHandle output_nh_;
00129 
00133     ConnectionPtr connection_;
00134 
00138     TrackerMap trackers_;
00139 
00140     ros::Timer refresh_tracker_timer_, mainloop_timer;
00141   };
00142 }  // namespace vrpn_client_ros
00143 
00144 #endif  // VRPN_CLIENT_ROS_VRPN_CLIENT_ROS_H


vrpn_client_ros
Author(s): Paul Bovbel
autogenerated on Mon Oct 2 2017 03:04:22