Program Listing for File acceleration_2d.hpp

↰ Return to documentation for file (/tmp/ws/src/fuse/fuse_models/include/fuse_models/acceleration_2d.hpp)

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018, Locus Robotics
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef FUSE_MODELS__ACCELERATION_2D_HPP_
#define FUSE_MODELS__ACCELERATION_2D_HPP_

#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <memory>
#include <string>

#include <fuse_models/parameters/acceleration_2d_params.hpp>

#include <fuse_core/async_sensor_model.hpp>
#include <fuse_core/throttled_callback.hpp>
#include <fuse_core/uuid.hpp>

#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
#include <rclcpp/rclcpp.hpp>


namespace fuse_models
{

class Acceleration2D : public fuse_core::AsyncSensorModel
{
public:
  FUSE_SMART_PTR_DEFINITIONS(Acceleration2D)
  using ParameterType = parameters::Acceleration2DParams;

  Acceleration2D();

  virtual ~Acceleration2D() = default;

  void initialize(
    fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    const std::string & name,
    fuse_core::TransactionCallback transaction_callback) override;

  void process(const geometry_msgs::msg::AccelWithCovarianceStamped & msg);

protected:
  fuse_core::UUID device_id_;

  void onInit() override;

  void onStart() override;

  void onStop() override;

  fuse_core::node_interfaces::NodeInterfaces<
    fuse_core::node_interfaces::Base,
    fuse_core::node_interfaces::Clock,
    fuse_core::node_interfaces::Logging,
    fuse_core::node_interfaces::Parameters,
    fuse_core::node_interfaces::Topics,
    fuse_core::node_interfaces::Waitables
  > interfaces_;

  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_;

  ParameterType params_;

  // NOTE(CH3): Unique ptr to defer till we have the node interfaces from initialize()
  std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
  std::unique_ptr<tf2_ros::TransformListener> tf_listener_;

  rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr sub_;

  using AccelerationThrottledCallback =
    fuse_core::ThrottledMessageCallback<geometry_msgs::msg::AccelWithCovarianceStamped>;
  AccelerationThrottledCallback throttled_callback_;
};

}  // namespace fuse_models

#endif  // FUSE_MODELS__ACCELERATION_2D_HPP_