targets.h

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#ifndef TARGETS_H
#define TARGETS_H

#include <unordered_map>
#include <tf2/utils.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Transform.h>
#include <swarmros/String.h>
#include <cpswarm_msgs/TargetTracking.h>
#include <cpswarm_msgs/TargetPositionEvent.h>
#include "target.h"

class targets
{
public:
    targets ();

    void publish (unsigned int id);

    void simulate ();

    void update (geometry_msgs::Pose pose);

    void update (cpswarm_msgs::TargetPositionEvent msg, target_state_t state);

private:
    void publish_event (string event, int id);

    geometry_msgs::Transform transform (geometry_msgs::Pose p1, geometry_msgs::Pose p2) const;

    void uuid_callback (const swarmros::String::ConstPtr& msg);

    NodeHandle nh;

    Publisher tracking_pub;

    Publisher target_found_pub;

    Publisher target_update_pub;

    Publisher target_lost_pub;

    Publisher target_done_pub;

    unordered_map<unsigned int, shared_ptr<target>> target_map;

    unordered_map<unsigned int, shared_ptr<target>> simulated_targets;

    string cps;

    double fov;
};

#endif // TARGETS_H