.. _program_listing_file__tmp_ws_src_rcss3d_nao_include_rcss3d_nao_rcss3d_nao_node.hpp:

Program Listing for File rcss3d_nao_node.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rcss3d_nao_include_rcss3d_nao_rcss3d_nao_node.hpp>` (``/tmp/ws/src/rcss3d_nao/include/rcss3d_nao/rcss3d_nao_node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2022 Kenji Brameld
   //
   // 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 RCSS3D_NAO__RCSS3D_NAO_NODE_HPP_
   #define RCSS3D_NAO__RCSS3D_NAO_NODE_HPP_
   
   #include <memory>
   #include <vector>
   #include <string>
   
   #include "rclcpp/node.hpp"
   #include "nao_lola_command_msgs/msg/joint_positions.hpp"
   #include "nao_lola_sensor_msgs/msg/accelerometer.hpp"
   #include "nao_lola_sensor_msgs/msg/angle.hpp"
   #include "nao_lola_sensor_msgs/msg/fsr.hpp"
   #include "nao_lola_sensor_msgs/msg/gyroscope.hpp"
   #include "nao_lola_sensor_msgs/msg/joint_positions.hpp"
   #include "rcss3d_agent_msgs/msg/percept.hpp"
   #include "rcss3d_agent_msgs/msg/beam.hpp"
   #include "sensor_msgs/msg/imu.hpp"
   #include "sensor_msgs/msg/joint_state.hpp"
   #include "soccer_vision_3d_msgs/msg/ball_array.hpp"
   #include "soccer_vision_3d_msgs/msg/goalpost_array.hpp"
   #include "soccer_vision_3d_msgs/msg/marking_array.hpp"
   #include "soccer_vision_3d_msgs/msg/robot_array.hpp"
   
   // Forward Declaration
   namespace rcss3d_agent
   {
   class Rcss3dAgent;
   class Params;
   }
   namespace rcss3d_nao
   {
   class ComplementaryFilter;
   class NaoJointsPid;
   }
   
   namespace rcss3d_nao
   {
   
   class Rcss3dNaoNode : public rclcpp::Node
   {
   public:
     explicit Rcss3dNaoNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
     virtual ~Rcss3dNaoNode();
   
   private:
     std::unique_ptr<rcss3d_agent::Params> params;
     std::unique_ptr<rcss3d_agent::Rcss3dAgent> rcss3dAgent;
     std::unique_ptr<rcss3d_nao::ComplementaryFilter> complementaryFilter;
     std::unique_ptr<rcss3d_nao::NaoJointsPid> naoJointsPid;
   
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Accelerometer>::SharedPtr accelerometerPub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Angle>::SharedPtr anglePub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::FSR>::SharedPtr fsrPub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Gyroscope>::SharedPtr gyroscopePub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::JointPositions>::SharedPtr jointPositionsPub;
     rclcpp::Publisher<soccer_vision_3d_msgs::msg::BallArray>::SharedPtr ballArrayPub;
     rclcpp::Publisher<soccer_vision_3d_msgs::msg::GoalpostArray>::SharedPtr goalpostArrayPub;
     rclcpp::Publisher<soccer_vision_3d_msgs::msg::MarkingArray>::SharedPtr markingArrayPub;
     rclcpp::Publisher<soccer_vision_3d_msgs::msg::RobotArray>::SharedPtr robotArrayPub;
     rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imuPub;
     rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr jointStatesPub;
   
     rclcpp::Subscription<nao_lola_command_msgs::msg::JointPositions>::SharedPtr jointPositionsSub;
     rclcpp::Subscription<rcss3d_agent_msgs::msg::Beam>::SharedPtr beamSub;
   
     void perceptCallback(const rcss3d_agent_msgs::msg::Percept & percept);
     void beamToInitialPose(double x, double y, double theta);
   
     bool publishImu;
     bool publishJointStates;
   };
   
   }  // namespace rcss3d_nao
   
   #endif  // RCSS3D_NAO__RCSS3D_NAO_NODE_HPP_