Fields2CoverVisualizerNode.h

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//=============================================================================
//    Copyright (C) 2021-2022 Wageningen University - All Rights Reserved
//                     Author: Gonzalo Mier
//                        BSD-3 License
//=============================================================================
 
#ifndef FIELDS2COVER_ROS_VISUALIZER_NODE_H_
#define FIELDS2COVER_ROS_VISUALIZER_NODE_H_
 
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <std_msgs/ColorRGBA.h>
#include <geometry_msgs/PolygonStamped.h>
#include <sensor_msgs/NavSatFix.h>
#include <dynamic_reconfigure/server.h>
#include <fields2cover_ros/F2CConfig.h>
#include <fields2cover.h>
 
namespace fields2cover_ros {
 
  class VisualizerNode {
    public:
      void init_VisualizerNode();
      void publish_topics(void);
      void rqt_callback(fields2cover_ros::F2CConfig &config, uint32_t level);
 
    public:
      ros::NodeHandle private_node_handle_ { "~" };
      ros::NodeHandle public_node_handle_;
 
      ros::Publisher field_polygon_publisher_;
      ros::Publisher field_no_headlands_publisher_;
      ros::Publisher field_gps_publisher_;
      ros::Publisher field_swaths_publisher_;
 
      sensor_msgs::NavSatFix gps_;
 
      f2c::Transform transf_;
 
      F2CFields fields_;
      F2CRobot robot_{2.1, 2.5};
      F2COptim optim_;
 
      bool automatic_angle_ {false};
      int sg_objective_ {0};
      int opt_turn_type_ {0};
      int opt_route_type_ {0};
  };
}
 
#endif  // FIELDS2COVER_ROS_VISUALIZER_NODE_H_