robot_info.h

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#ifndef TUW_MULTI_ROBOT_ROBOT_ROUTER_INFO_H
#define TUW_MULTI_ROBOT_ROBOT_ROUTER_INFO_H
 
//ROS
#include <ros/ros.h>
#include <tuw_multi_robot_msgs/RobotGoalsArray.h>
#include <tuw_multi_robot_msgs/RobotGoals.h>
#include <tuw_multi_robot_msgs/RobotInfo.h>
#include <nav_msgs/Odometry.h>
#include <tuw_multi_robot_msgs/Graph.h>
#include <nav_msgs/Path.h>
#include <nav_msgs/OccupancyGrid.h>
#include <tuw_multi_robot_msgs/RouterStatus.h>
#include <dynamic_reconfigure/server.h>
#include <tuw_multi_robot_router/routerConfig.h>
 
#include <tuw_global_router/router.h>
#include <tuw_global_router/mrr_utils.h>
#include <opencv2/core/core.hpp>
 
//TODO disable got_map if not used
 
namespace multi_robot_router
{
class RobotInfo : public tuw_multi_robot_msgs::RobotInfo
{
public:
    RobotInfo ()
    : tuw_multi_robot_msgs::RobotInfo()
    , online_(Online::inactive)
    , activeTime_(1.0)
    {
    }
    RobotInfo (const tuw_multi_robot_msgs::RobotInfo& o)
    : tuw_multi_robot_msgs::RobotInfo(o)
    , online_(Online::inactive)
    , activeTime_(1.0)
    {
    }
    RobotInfo (const std::string &name)
    : tuw_multi_robot_msgs::RobotInfo()
    , online_(Online::inactive)
    , activeTime_(1.0)
    {
            robot_name = name;
    }
        enum class Online
        {
            inactive,
            active,
            fixed
        };
        
        void updateInfo(const tuw_multi_robot_msgs::RobotInfo &info);
        
        void initTopics(ros::NodeHandle &n,  bool robot_name_as_namespace);
        
        Online getOnlineStatus() const;
        void updateOnlineStatus ( const float updateTime );
        
        float radius() const;
        
        Eigen::Vector3d getPose() const;
        static size_t findIdx(const std::vector<std::shared_ptr<RobotInfo> > &data, const std::string &name);
        static std::vector<std::shared_ptr<RobotInfo> >::iterator findObj(std::vector<std::shared_ptr<RobotInfo> > &data, const std::string &name);
        
        bool compareName(const std::shared_ptr<RobotInfo> data) const;
        
        ros::Subscriber subOdom_;
        ros::Publisher pubPaths_;
        ros::Publisher pubRoute_;
        void callback_odom ( const nav_msgs::Odometry &msg);
    private:
        Online online_;
        float activeTime_;
};
typedef std::shared_ptr<RobotInfo> RobotInfoPtr;
typedef std::vector<std::shared_ptr<RobotInfo> >::iterator RobotInfoPtrIterator;
 
} // namespace multi_robot_router
#endif // TUW_MULTI_ROBOT_ROBOT_ROUTER_INFO_H