MultiRobotRouteToPathNode.h

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/* Copyright (c) 2017, TU Wien
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      * 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 the <organization> 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 TU Wien ''AS IS'' AND ANY
  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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#ifndef TUW_MULTI_ROBOT_ROUTE_TO_PATH_H
#define TUW_MULTI_ROBOT_ROUTE_TO_PATH_H

// ROS
#include <ros/ros.h>
#include <nav_msgs/Path.h>
#include <nav_msgs/Odometry.h>
#include <tuw_multi_robot_msgs/Route.h>
#include <tuw_multi_robot_route_to_path/RobotRouteToPath.h>
#include <tuw_multi_robot_route_to_path/RobotStateObserver.h>

#include <memory>

namespace tuw_multi_robot_route_to_path
{
class MultiRobotRouteToPathNode
{
    //special class-member functions.
  public:
    MultiRobotRouteToPathNode(ros::NodeHandle &n);

    //ROS:
    ros::NodeHandle n_;       
    ros::NodeHandle n_param_; 
    std::unique_ptr<ros::Rate> rate_;

  private:
    void publishPath(std::vector<Eigen::Vector3d> _p, int _topic);

    std::vector<ros::Publisher> pubPath_;
    std::vector<ros::Subscriber> subSegPath_;
    std::vector<ros::Subscriber> subOdometry_;

    // ROS Topic names
    std::string topic_path_;
    std::string topic_seg_path_;
    std::string topic_odom_;
    std::vector<std::string> robot_names_;

    void subOdomCb(const ros::MessageEvent<nav_msgs::Odometry const> &_event, int _topic);
    void subSegPathCb(const ros::MessageEvent<tuw_multi_robot_msgs::Route const> &_event, int _topic);
    int findRobotId(std::string _name);

    std::vector<RobotRouteToPath> converter_;
    std::vector<RobotStateObserver> observer_;
    int no_robots_;
    std::vector<int> robot_steps_;
};

} // namespace tuw_multi_robot_route_to_path

#endif