CPCSensor.hh

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// Copyright (c) 2016 The UUV Simulator Authors.
// All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once

#include <ros/ros.h>
#include <boost/bind.hpp>
#include <GeographicLib/Geocentric.hpp>
#include <GeographicLib/LocalCartesian.hpp>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/Vector3.h>
#include <geographic_msgs/GeoPoint.h>
#include <std_msgs/Float64.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/NavSatFix.h>
#include <nav_msgs/Odometry.h>
#include <uuv_plume_msgs/ParticleConcentration.h>
#include <uuv_plume_msgs/Salinity.h>
#include <memory>
#include <string>
#include <chrono>
#include <random>

namespace uuv_plume_simulator
{

#define CONCENTRATION_UNIT_PPT "ppt"
#define CONCENTRATION_UNIT_PPM "ppm"
#define CONCENTRATION_UNIT_PSU "psu"

class CPCSensor
{
    public: CPCSensor();

    public: ~CPCSensor();

    protected: void OnSensorUpdate(const ros::TimerEvent&);

    protected: void OnPlumeParticlesUpdate(
      const sensor_msgs::PointCloud::ConstPtr &_msg);

    protected: void OnOdometryUpdate(
        const nav_msgs::Odometry::ConstPtr &_msg);

    protected: void OnGPSUpdate(
        const sensor_msgs::NavSatFix::ConstPtr &_msg);

    protected: bool updatingCloud;

    protected: double gamma;

    protected: double gain;

    protected: double smoothingLength;

    protected: std::string salinityUnit;

    protected: double saturation;

    protected: bool useGeoCoordinates;

    protected: bool publishSalinity;

    protected: double referenceSalinityValue;

    protected: double plumeSalinityValue;

    protected: bool updateMeasurement;

    protected: double updateRate;

    protected: std::string sensorFrameID;

    protected: bool areParticlesInit;

    protected: bool useOdom;

    protected: bool useGPS;

    protected: bool useTFUpdate;

    protected: geometry_msgs::Vector3 cartPos;

    protected: geographic_msgs::GeoPoint geoPos;

    protected: ros::Subscriber particlesSub;

    protected: ros::Subscriber odometrySub;

    protected: ros::Subscriber gpsSub;

    protected: ros::Publisher concentrationPub;

    protected: ros::Publisher salinityPub;

    protected: std::shared_ptr<ros::NodeHandle> nodeHandle;

    protected: tf2_ros::Buffer tfBuffer;

    protected: std::shared_ptr<tf2_ros::TransformListener> tfListener;

    protected: GeographicLib::LocalCartesian projection;

    protected: uuv_plume_msgs::ParticleConcentration concentrationMsg;

    protected: uuv_plume_msgs::Salinity salinityMsg;

    protected: ros::Timer updateTimer;

    protected: std::default_random_engine rndGen;

    protected: std::normal_distribution<double> noiseModel;

    protected: double noiseAmp;

    protected: double noiseSigma;
};
}