uos_freespace.h

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/*
 * uos_freespace
 * Author: Marat "Peter" Purnyn
 * Created 11/8/2015 (based on earlier work uos-freespace.cc)
 */
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include "tf/transform_listener.h"
#include <string>

class FreeSpace {
        public:
                        FreeSpace();
        private:
                //variables
                        double max_vel_x_, max_rotational_vel_; //max velocity of robot
                        double turn_omega_; //this is used to keep track of the turning angle of the robot when turn_state_ = 1;
                        int turn_state_;        //if robot gets too close to an object in front, it switches to turn mode
                                                                //it keeps turning until there is no more obstacle and switches out of turn mode.
                        int scanner_orientation_; //0 for initial, 1 for right side up, -1 for upside-down laserscanner
                        std::string tf_prefix_; // optional tf_prefix
                //node
                        ros::NodeHandle nh_;
                        ros::NodeHandle private_nh_;
                //publishers
                        ros::Publisher vel_pub_;
                //subscribers
                        ros::Subscriber laser_sub_;
                //others
                        tf::TransformListener tf_;
                        
                //functions
                        void autonomousBehaviour(const sensor_msgs::LaserScan::ConstPtr &laserscan);
                        double calcFreespace(const sensor_msgs::LaserScan::ConstPtr &laserscan);
                        int isInvertedScannerCheck(const sensor_msgs::LaserScan::ConstPtr &laserscan);
                        int checkRange(
                                const sensor_msgs::LaserScan::ConstPtr &laserscan, 
                                double xregion, double yregion,
                                int *indexToObstacle, 
                                double *distanceToObstacle);    
};