CPCROSPlugin.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.

#ifndef __UUV_CHEMICAL_PARTICLE_CONCENTRATION_ROS_PLUGIN_HH__
#define __UUV_CHEMICAL_PARTICLE_CONCENTRATION_ROS_PLUGIN_HH__

#include <gazebo/gazebo.hh>
#include <ros/ros.h>
#include <uuv_sensor_ros_plugins/ROSBaseModelPlugin.hh>
#include <uuv_sensor_ros_plugins_msgs/ChemicalParticleConcentration.h>
#include <uuv_sensor_ros_plugins_msgs/Salinity.h>
#include <sensor_msgs/PointCloud.h>
#include <uuv_sensor_ros_plugins/ROSBaseModelPlugin.hh>

namespace gazebo
{
  class CPCROSPlugin : public ROSBaseModelPlugin
  {
    public: CPCROSPlugin();

    public: virtual ~CPCROSPlugin();

    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

    protected: virtual bool OnUpdate(const common::UpdateInfo& _info);

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

    protected: ros::Subscriber particlesSub;

    protected: ros::Publisher salinityPub;

    protected: bool updatingCloud;

    protected: double gamma;

    protected: double gain;

    // \brief Radius of the kernel to identify particles that will be taken into
    // account in the concentration computation
    protected: double smoothingLength;

    protected: ros::Time lastUpdateTimestamp;

    protected: uuv_sensor_ros_plugins_msgs::ChemicalParticleConcentration
      outputMsg;

    protected: uuv_sensor_ros_plugins_msgs::Salinity salinityMsg;

    protected: double waterSalinityValue;

    protected: double plumeSalinityValue;
  };
}

#endif // __UUV_CHEMICAL_PARTICLE_CONCENTRATION_ROS_PLUGIN_HH__