covariance_markers_alg.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 _covariance_markers_alg_h_
#define _covariance_markers_alg_h_

#include <iri_covariance_markers/CovarianceMarkersConfig.h>
#include "mutex.h"
#include <Eigen/Core>
#include <Eigen/Eigenvalues>

//include covariance_markers_alg main library
#include <visualization_msgs/MarkerArray.h>
#include <nav_msgs/Odometry.h>

class CovarianceMarkersAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

  public:
    typedef iri_covariance_markers::CovarianceMarkersConfig Config;

    Config config_;

    CovarianceMarkersAlgorithm();

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(const Config& new_cfg, uint32_t level=0);

    // here define all covariance_markers_alg interface methods to retrieve and set
    // the driver parameters

    std::string frame_id_;
    std::string namespace_;
    uint counter_;
    float scale_multiplier_;
    float scale_multiplier_z_;
    float color_alpha_;
    float color_red_;
    float color_green_;
    float color_blue_ ;

    nav_msgs::Odometry odom_;
    visualization_msgs::MarkerArray marker_array_;
    visualization_msgs::Marker current_marker_;

    void drawCovariance();
    visualization_msgs::MarkerArray marker_array();

    ~CovarianceMarkersAlgorithm();
};

#endif