RosPressureVisualizer.h

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/*
 * Sends markers to RViz to visualize the pressure
 * being applied on a taxel array sensor.
 *
 * Copyright (C) 2011  Meka Robotics
 * Author: Pierre-Luc Bacon <pierrelucbacon@mekabot.com>
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 */

#ifndef RosPressureVisualizer_H_
#define RosPressureVisualizer_H_

#include <m3skin_ros/RawTaxelArray.h>
#include <hrl_haptic_manipulation_in_clutter_msgs/TaxelArray.h>
//#include <m3skin_ros/TaxelArray.h>

#include <math.h>

#include <ros/ros.h>
#include <geometry_msgs/Transform.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>
#include <visualization_msgs/Marker.h>


namespace m3 {

class RosPressureVisualizer {
public:
        RosPressureVisualizer();
        virtual ~RosPressureVisualizer();
        void Init();

protected:
        void DisplayPressure(const hrl_haptic_manipulation_in_clutter_msgs::TaxelArray::ConstPtr& msg);

        void GetTaxelTransforms();

        void GetLinkName();


        static const double SCALE_ARROW_Y = 0.25;
        static const double SCALE_ARROW_Z = 0.25;
        static const double DURATION_ARROW = 0.1;
        static const double MIN_PRESSURE_VALUE = 0.2;
        static const double SCALING_FACTOR = 0.05;

        // It is good enough for us if the visualization runs at around 50Hz
        static const unsigned FREQUENCY_DIVISOR = 2;

        // Setting a larger value would request an older tf in the tf buffer
        // used by RViz. That way, we avoid errors from RViz, and this one does
        // not wait on a most recent transform to arrive. In ms.
        static const double TF_TIME_OFFSET = 0.200;

protected:
        inline double norm(double x, double y, double z) {
        return sqrt(x*x+y*y+z*z);
        }

        visualization_msgs::Marker GetArrowMarker(tf::Vector3 position, tf::Quaternion orientation, double scale);
    void GetArrowTextMarkers(tf::Vector3 position, tf::Quaternion orientation,
                             double scale, visualization_msgs::Marker *arrow,
                             visualization_msgs::Marker *text,
                             double nx, double ny, double nz);

private:

        void InitStaticVectors();

        ros::NodeHandle n;
        ros::Publisher publisher_text_marker;
        ros::Publisher publisher_text_marker_array;
        ros::Publisher publisher_marker;
        ros::Publisher publisher_marker_array;
        ros::Subscriber subscriber;
        ros::ServiceClient local_coords_client;
        ros::ServiceClient link_name_client;

        std::vector<geometry_msgs::Transform> transforms;
        std::vector<tf::Transform> taxels_transforms;
        std::vector<tf::Transform> taxels_transforms_inv;
        std::vector<tf::Quaternion> taxels_arrows_quaternions;

        std::string linkName;

        unsigned frequency_count;
};

}

#endif /* RosPressureVisualizer_H_ */