trajectory_to_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 _trajectory_to_markers_alg_h_
#define _trajectory_to_markers_alg_h_

#include <iri_trajectory_to_markers/TrajectoryToMarkersConfig.h>
#include "mutex.h"
#include <Eigen/Core>
#include <Eigen/Eigenvalues>

//include trajectory_to_markers_alg main library
#include <visualization_msgs/MarkerArray.h>
#include <iri_nav_msgs/Trajectory.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>

class TrajectoryToMarkersAlgorithm
{
  protected:
    CMutex alg_mutex_;

  private:
    visualization_msgs::MarkerArray marker_array_;
    visualization_msgs::Marker loops_marker_;
    visualization_msgs::Marker trajectory_marker_;
    visualization_msgs::Marker actual_marker_;
    std::vector<bool> loop_state_;
    uint nLoops_;
    
  public:
    typedef iri_trajectory_to_markers::TrajectoryToMarkersConfig Config;

    Config config_;

    TrajectoryToMarkersAlgorithm(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 trajectory_to_markers_alg interface methods to retrieve and set
    // the driver parameters

    ~TrajectoryToMarkersAlgorithm(void);
    
    void initialize_markers();
    
    bool drawCovariances(const iri_nav_msgs::Trajectory& msg);
   
    visualization_msgs::MarkerArray get_marker_array() const;
    
    visualization_msgs::Marker get_actual_marker() const;
    
    visualization_msgs::Marker create_marker(const uint& id, const std_msgs::Header& header, const Eigen::Matrix2f& covs, const float& theta_cov, const geometry_msgs::Point& position, const bool& loopClosure) const;
    
    void change_actual_marker(const Eigen::Matrix2f& covs, const float& theta_cov, const geometry_msgs::Point& position, const bool& loopClosure);
    
    visualization_msgs::Marker create_loop_marker(const uint& id, const std_msgs::Header& header, const geometry_msgs::Point& position1, const geometry_msgs::Point& position2) const;
    
    Eigen::Matrix2f get_ith_cov(const iri_nav_msgs::Trajectory& msg, const uint i) const;
    
    float get_ith_theta_cov(const iri_nav_msgs::Trajectory& msg, const uint i) const;
};

#endif