kinton_std_msgs_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 <Eigen/Dense>

#include <tf/transform_listener.h>

// [publisher subscriber headers]
#include <sensor_msgs/Imu.h>
#include <mav_msgs/Height.h>
#include <geometry_msgs/PointStamped.h>

// [service client headers]

// [action server client headers]

class KintonOdomAlgNode : public algorithm_base::IriBaseAlgorithm<KintonOdomAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher imu_publisher_;
    sensor_msgs::Imu Imu_msg_;

    ros::Publisher height_publisher_;
    geometry_msgs::PointStamped Height_msg_;

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

    ros::Subscriber height_subscriber_;
    void height_callback(const mav_msgs::Height::ConstPtr& msg);
    CMutex height_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

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

  public:
    KintonOdomAlgNode(void);

    ~KintonOdomAlgNode(void);

  protected:

    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

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

};

#endif