force_robot_companion_learning_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 _force_robot_companion_learning_alg_node_h_
#define _force_robot_companion_learning_alg_node_h_

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


// [publisher subscriber headers]
#include <std_msgs/Float64.h>
#include <sensor_msgs/LaserScan.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PointStamped.h>
//#include <geometry_msgs/Twist.h>
#include <visualization_msgs/MarkerArray.h>
#include <iri_perception_msgs/peopleTrackingArray.h>

// [service client headers]
#include <std_srvs/Empty.h>

// [action server client headers]
//#include <actionlib/client/simple_action_client.h>
//#include <actionlib/client/terminal_state.h>
//#include <move_base_msgs/MoveBaseAction.h>

#include <tf/transform_listener.h>
#include "nav/force_reactive_robot_companion_learning.h"
#include <string>

using namespace std;


class ForceRobotCompanionLearningAlgNode : public algorithm_base::IriBaseAlgorithm<ForceRobotCompanionLearningAlgorithm>
{
    enum sim_state {Init_Sim=0, Find_Nearest, Test_Sim, End_Sim };
    enum learning_mode {Density=0, Initial_paramters };
  private:
     // [publisher attributes]
    ros::Publisher angle_robot_person_publisher_;
    std_msgs::Float64 angle_robot_person_msg_;
    ros::Publisher person_robot_dist_publisher_;
    std_msgs::Float64 person_robot_dist_msg_;
        ros::Publisher target_person_position_publisher_;
    geometry_msgs::PointStamped target_person_position_msg_;
        ros::Publisher robot_position_publisher_;
    geometry_msgs::PoseStamped robot_position_msg_;
    ros::Publisher force_param_publisher_;
    geometry_msgs::PointStamped force_param_msg_;
    ros::Publisher trajectories_publisher_;
    visualization_msgs::MarkerArray MarkerArray_trajectories_msg_;
    ros::Publisher forces_publisher_;
    visualization_msgs::MarkerArray MarkerArray_forces_msg_;
        ros::Publisher destinations_publisher_;
    visualization_msgs::MarkerArray MarkerArray_destinations_msg_;
        ros::Publisher predictions_publisher_;
    visualization_msgs::MarkerArray MarkerArray_predictions_msg_;
        //variables and functions to fill the visualization messages
        visualization_msgs::Marker traj_marker_, traj_robot_marker_, robot_marker_;
        visualization_msgs::Marker target_marker_;
        visualization_msgs::Marker dest_marker_;
        visualization_msgs::Marker pred_marker_;
        visualization_msgs::Marker text_marker_;
        visualization_msgs::Marker force_marker_, force_goal_marker_, force_goal2_marker_, force_int_person_marker_,
                        force_int_robot_marker_, force_obstacle_map_marker_, force_obstacle_laser_marker_;
        void init_node();
        void vis_trajectories();
        void clear_force_markers();
        void vis_intentionality_prediction();
        void vis_destinations();
        void vis_predictions();
  void growing_density_test();
  void initial_params_learning();
        
    // [subscriber attributes]
    ros::Subscriber laser_subscriber_;
    CMutex laser_mutex_;
    ros::Subscriber dest_subscriber_;
    void dest_callback(const geometry_msgs::PoseStamped::ConstPtr& msg);
    CMutex dest_mutex_;
    ros::Subscriber tracks_subscriber_;
    void tracks_callback(const iri_perception_msgs::peopleTrackingArray::ConstPtr& msg);
    CMutex tracks_mutex_;
        

    // [service attributes]

    // [client attributes]
    ros::ServiceClient reset_client_;
    std_srvs::Empty reset_srv_;

    // [action server attributes]

    // [action client attributes]
//    actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_;
 //   move_base_msgs::MoveBaseGoal move_base_goal_;
  //  void move_baseMakeActionRequest();
   // void move_baseDone(const actionlib::SimpleClientGoalState& state,  const move_base_msgs::MoveBaseResultConstPtr& result);
   // void move_baseActive();
    //void move_baseFeedback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);

        Cforce_reactive_robot_companion_learning pred_;
        std::string target_frame_, robot_frame_;
        tf::TransformListener tf_listener_;
        
        //for the debugging mode
        SpointV_cov robot_desired_position_, target_followed_pose_;
        Sforce f1_, f2_, f3_, f4_, f5_, f_;
  ros::Time now_;
//      bool move_base_mode_, robot_sim_, using_prediction_, robot_stop_;
        bool using_prediction_;
        double param_f1_, param_f2_, param_f3_;
        std::vector<int> prev_buttons_;
//      bool ready_to_read_laser_; //not finally used??
        
        int nearest_target_;
        string force_map_path_,destination_map_path_;
        double laser_radi_;

        //simulation variables
        sim_state simulation_state_;
        int number_of_virtual_people_,num_experiment_,timer_;
        FILE * file_results_out_;
        bool results_file_is_open_;
        string results_folder_;
        double robot_x_ini_,robot_y_ini_;

    //learning mode
    learning_mode learning_mode_;

  public:
    ForceRobotCompanionLearningAlgNode(void);

    ~ForceRobotCompanionLearningAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif