kinton_odom_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 _kinton_odom_alg_node_h_
#define _kinton_odom_alg_node_h_

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

#include <geometry_msgs/PoseWithCovariance.h>
#include <geometry_msgs/TwistWithCovariance.h>
#include <geometry_msgs/Transform.h>

#include <Eigen/Dense>

#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>

// [publisher subscriber headers]
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/Point.h>

// [service client headers]

// [action server client headers]

class KintonOdomAlgNode : public algorithm_base::IriBaseAlgorithm<KintonOdomAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher odom_publisher_;
    nav_msgs::Odometry Odometry_msg_;

    // [subscriber attributes]
    ros::Subscriber imu_subscriber_;
    void imu_callback(const sensor_msgs::Imu::ConstPtr& msg);
    CMutex imu_mutex_;

    ros::Subscriber height_point_subscriber_;
    void height_point_callback(const geometry_msgs::PointStamped::ConstPtr& msg);
    CMutex height_point_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    ros::Time last_time_;
    ros::Time current_time_;

    //Fixed transforms between frames
    Eigen::Matrix4d T_acc_, T_gyr_, T_comp_;

    //IMU data
    Eigen::MatrixXd pos_ang_imu_, vel_ang_imu_, acc_lin_imu_;

    //Quadrotor rotation r.t.world
    Eigen::Matrix3d Rquad_;

    //Linear velocities r.t. odom frame (integrated accelerations)
    Eigen::MatrixXd vel_lin_odom_;

    //angles r.t odom frame (Integrated angular velocities)
    Eigen::MatrixXd pos_ang_odom_;
    
    //positions r.t odom frame (Integrated linear velocities)
    Eigen::MatrixXd pos_lin_odom_;


    //Height from low-level fused data
    double height_;
    double height_init_;        
    bool init_; 

    geometry_msgs::PoseWithCovariance pose_;
    geometry_msgs::TwistWithCovariance twist_;
    geometry_msgs::Transform transform_;

    // parameter variables
    std::string tf_prefix_;
    std::string odom_id_;
    std::string base_link_id_;
    bool publish_tf_;


  public:
    KintonOdomAlgNode(void);

    ~KintonOdomAlgNode(void);

  protected:

    tf::TransformBroadcaster odom_broadcaster_;

    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]

    void ini_zeros();

    Eigen::Matrix4d getTransform(const tf::StampedTransform& transform);

};

#endif