tibi_dabo_face_tracking_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 _tibi_dabo_face_tracking_alg_node_h_
#define _tibi_dabo_face_tracking_alg_node_h_

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

// [publisher subscriber headers]
#include <face_detector_mono/RectArray.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>

// [service client headers]

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <iri_nav_msgs/followTargetAction.h>

class TibiDaboFaceTrackingAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboFaceTrackingAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher target_joints_publisher_;
    trajectory_msgs::JointTrajectoryPoint JointTrajectoryPoint_msg_;

    // [subscriber attributes]
    ros::Subscriber face_detections_subscriber_;
    void face_detections_callback(const face_detector_mono::RectArray::ConstPtr& msg);
    CMutex face_detections_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<iri_nav_msgs::followTargetAction> follow_target_client_;
    iri_nav_msgs::followTargetGoal follow_target_goal_;
    void follow_targetMakeActionRequest();
    void follow_targetDone(const actionlib::SimpleClientGoalState& state,  const iri_nav_msgs::followTargetResultConstPtr& result);
    void follow_targetActive();
    void follow_targetFeedback(const iri_nav_msgs::followTargetFeedbackConstPtr& feedback);

    double image_width;
    double image_height;
    double focus_length_x;
    double focus_length_y;

    bool first;

  public:
    TibiDaboFaceTrackingAlgNode(void);

    ~TibiDaboFaceTrackingAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif