iri_score_map_mix_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 _score_map_alg_node_h_
#define _score_map_alg_node_h_

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

#include <limits>

// [publisher subscriber headers]
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/UInt32.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
//copy point cloud //TODO temporary
#include <pcl/io/pcd_io.h>

// [service client headers]
#include <iri_deformable_analysis/ScoreMapMixConfig.h>
#include <iri_deformable_analysis/ScoreMapMixResults.h>
#include <iri_deformable_analysis/SetScoreMixAlgorithmID.h>

// [action server client headers]

//temporary, the number of maps isn't parametrized
#define MAXMAPS 8

enum {
    FULL0,
    FULL1,
    FIFTY01
};

class ScoreMapMixAlgNode : public algorithm_base::IriBaseAlgorithm<ScoreMapMixAlgorithm>
{
  private:

    int selection_algorithm_id_;
    int num_score_maps_;
    std::vector<pcl::PointCloud<pcl::PointXYZRGB> > input_score_maps_;
    std::vector<bool> score_map_ready_;

    //to prevent overflooding the float, sum weights must be 1 or max_score_value*num_score_maps_ < max_float
    std::vector<double> weights_;
    pcl::PointCloud<pcl::PointXYZRGB> output_score_map_;

    // [publisher attributes]
    ros::Publisher             score_map_global_publisher_;
    sensor_msgs::PointCloud2   score_map_global_msg_;
    ros::Publisher             grasping_point_pose_publisher_;
    geometry_msgs::PoseStamped best_scored_pose_;
    ros::Publisher             algorithm_id_publisher_;
    std_msgs::UInt32           UInt32_msg_;
    ros::Publisher                              score_results_publisher_;
    iri_deformable_analysis::ScoreMapMixResults score_results_;

    // [subscriber attributes]
    ros::Subscriber score_map0_subscriber_;
    void score_map0_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex score_map0_mutex_;
    ros::Subscriber score_map7_subscriber_;
    void score_map7_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex score_map7_mutex_;
    ros::Subscriber score_map6_subscriber_;
    void score_map6_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex score_map6_mutex_;
    ros::Subscriber score_map5_subscriber_;
    void score_map5_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex score_map5_mutex_;
    ros::Subscriber score_map4_subscriber_;
    void score_map4_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex score_map4_mutex_;
    ros::Subscriber score_map3_subscriber_;
    void score_map3_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex score_map3_mutex_;
    ros::Subscriber score_map2_subscriber_;
    void score_map2_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex score_map2_mutex_;
    ros::Subscriber score_map1_subscriber_;
    void score_map1_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex score_map1_mutex_;

    // [service attributes]
    ros::ServiceServer algorithm_id_server_;
    bool algorithm_idCallback(iri_deformable_analysis::SetScoreMixAlgorithmID::Request &req, iri_deformable_analysis::SetScoreMixAlgorithmID::Response &res);
    CMutex algorithm_id_mutex_;

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    void algorithmConfigurationTranslation(int alg_id);

    //finds the highest scored point of a score map and stores its pose
    void getMax(const pcl::PointCloud<pcl::PointXYZRGB> score_map, pcl::PointXYZRGB& grasp_point, int& pcl_row, int& pcl_col, float& max_score, float& min_score);

    bool all_clouds_ready();

    //merges the several pointclouds received
    void computeScoreMap();

    //TODO the synchronizing process is ugly, the last subscriber calls the computeGraspPoints function
    //computes the score map and finds the highest score point
    void computeGraspPoints();

    void normalizeScoreMap(const pcl::PointCloud<pcl::PointXYZRGB> score_map);
    void normalizeScoreMap(const pcl::PointCloud<pcl::PointXYZRGB> score_map, double max_input, double min_input);


  public:
    ScoreMapMixAlgNode(void);

    ~ScoreMapMixAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif