artag_image_based_vs_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _artag_image_based_vs_alg_node_h_
#define _artag_image_based_vs_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "artag_image_based_vs_alg.h"

#include <geometry_msgs/Twist.h>
// [publisher subscriber headers]
#include <ar_pose/ARMarkers.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/TwistWithCovariance.h>

// [service client headers]

// [action server client headers]

class ArtagImageBasedVsAlgNode : public algorithm_base::IriBaseAlgorithm<ArtagImageBasedVsAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher cmd_vel_cov_publisher_;
    geometry_msgs::TwistWithCovariance TwistWC_msg_;
    ros::Publisher target_artag_publisher_;
    ar_pose::ARMarkers target_artag_msg_;

    // [subscriber attributes]
    // Input artag
    ros::Subscriber input_ARtag_subscriber_;
    void input_ARtag_callback(const ar_pose::ARMarkers::ConstPtr& msg);
    CMutex input_ARtag_mutex_;

    //Quadrotor odometry for special undeactuated output
    //Odometry
    ros::Subscriber odom_subscriber_;
    void odom_callback(const nav_msgs::Odometry::ConstPtr& msg);
    CMutex odom_mutex_;


    Eigen::MatrixXd cam_vel_; //Camera velocities.

    ros::Time time_,time_last_; //Time variables.
    double dt_; // Time diferential.

    ArtagImageBasedVsAlgorithm artag_image_based_vs_alg_;   // Algorithm call.

    bool traditional_; // Image-Jacobian type (Traditional or Uncalibrated).
    bool random_points_; // To use initial random features
    Eigen::MatrixXd desired_pose_; // Desired camera position.
    Eigen::MatrixXd current_pose_; // Current camera position.
    bool underact_;    // To enable underactuation velocities oputput (no roll or pitch velocities).
    Eigen::MatrixXd v_rollpitch_; // Roll and pitch quadrotor angular velocities (to extract from output velocities)
    Eigen::MatrixXd kp_, kd_, ki_; // PID parameters.
    double i_lim_;  // Integration limits (+ and -).

    bool init_; // To initialize time counters

    double fixed_to_id_; //Anchored to this ID

    geometry_msgs::Pose pose_; //tag pose

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

  public:
    ArtagImageBasedVsAlgNode(void);

    ~ArtagImageBasedVsAlgNode(void);

  protected:
    void mainNodeThread(void);

    void get_marker_info(const ar_pose::ARMarkers::ConstPtr& msg);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif