Program Listing for File unicycle_2d_ignition.hpp
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#ifndef FUSE_MODELS__UNICYCLE_2D_IGNITION_HPP_
#define FUSE_MODELS__UNICYCLE_2D_IGNITION_HPP_
#include <atomic>
#include <memory>
#include <string>
#include <fuse_core/async_sensor_model.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_models/parameters/unicycle_2d_ignition_params.hpp>
#include <fuse_msgs/srv/set_pose.hpp>
#include <fuse_msgs/srv/set_pose_deprecated.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_srvs/srv/empty.hpp>
namespace fuse_models
{
class Unicycle2DIgnition : public fuse_core::AsyncSensorModel
{
public:
FUSE_SMART_PTR_DEFINITIONS(Unicycle2DIgnition)
using ParameterType = parameters::Unicycle2DIgnitionParams;
Unicycle2DIgnition();
~Unicycle2DIgnition() = 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 start() override;
void stop() override;
void subscriberCallback(const geometry_msgs::msg::PoseWithCovarianceStamped & msg);
bool setPoseServiceCallback(
rclcpp::Service<fuse_msgs::srv::SetPose>::SharedPtr service,
std::shared_ptr<rmw_request_id_t>,
const fuse_msgs::srv::SetPose::Request::SharedPtr req);
bool setPoseDeprecatedServiceCallback(
rclcpp::Service<fuse_msgs::srv::SetPoseDeprecated>::SharedPtr service,
std::shared_ptr<rmw_request_id_t> request_id,
const fuse_msgs::srv::SetPoseDeprecated::Request::SharedPtr req);
protected:
void onInit() override;
void process(
const geometry_msgs::msg::PoseWithCovarianceStamped & pose,
std::function<void()> post_process = nullptr);
void sendPrior(const geometry_msgs::msg::PoseWithCovarianceStamped & pose);
fuse_core::node_interfaces::NodeInterfaces<
fuse_core::node_interfaces::Base,
fuse_core::node_interfaces::Clock,
fuse_core::node_interfaces::Graph,
fuse_core::node_interfaces::Logging,
fuse_core::node_interfaces::Parameters,
fuse_core::node_interfaces::Services,
fuse_core::node_interfaces::Topics,
fuse_core::node_interfaces::Waitables
> interfaces_;
std::atomic_bool started_;
bool initial_transaction_sent_;
fuse_core::UUID device_id_;
rclcpp::Clock::SharedPtr clock_;
rclcpp::Logger logger_;
ParameterType params_;
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr reset_client_;
rclcpp::Service<fuse_msgs::srv::SetPose>::SharedPtr set_pose_service_;
rclcpp::Service<fuse_msgs::srv::SetPoseDeprecated>::SharedPtr set_pose_deprecated_service_;
rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr sub_;
};
} // namespace fuse_models
#endif // FUSE_MODELS__UNICYCLE_2D_IGNITION_HPP_