people_follower_client_alg.h

Go to the documentation of this file.

// 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 _people_follower_client_alg_h_
#define _people_follower_client_alg_h_

#include <iri_people_follower_client/PeopleFollowerClientConfig.h>
#include "mutex.h"

#include <iri_people_tracking/peopleTrackingArray.h>

//include people_follower_client_alg main library

struct TargetPeople
{
  unsigned int target_id;
  unsigned int stop_iter;
  
  TargetPeople(const unsigned int & t, const unsigned int & s) :
    target_id(t),
    stop_iter(s)
  {
  }

  TargetPeople(const unsigned int & t) :
    target_id(t),
    stop_iter(0)
  {
  }

};

class PeopleFollowerClientAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    static const float people_stand_max_vel_     = 0.1f;
    static const unsigned int min_stopped_iters_ = 3;
    std::vector<TargetPeople> vTargets_;

  public:
    typedef iri_people_follower_client::PeopleFollowerClientConfig Config;

    Config config_;

    PeopleFollowerClientAlgorithm(void);

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

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

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

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

    // here define all people_follower_client_alg interface methods to retrieve and set
    // the driver parameters
    bool isSomeoneStanding(const iri_people_tracking::peopleTrackingArray::ConstPtr& msg, 
                           unsigned int & target_index);
    ~PeopleFollowerClientAlgorithm(void);
};

#endif