abstract-node.hh

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#ifndef WALK_MSGS_ABSTRACT_NODE_HH
# define WALK_MSGS_ABSTRACT_NODE_HH
# include <string>
# include <vector>

# include <ros/ros.h>
# include <walk_interfaces/pattern-generator.hh>

# include <nav_msgs/Path.h>
# include <visualization_msgs/MarkerArray.h>

namespace walk_msgs
{
  template <typename T, typename U, typename S>
  class AbstractNode
  {
  public:
    typedef T patternGenerator_t;
    typedef U footprintRosType_t;

    typedef S serviceRosType_t;

    explicit AbstractNode (const std::string& rosNamespace,
                           const std::string& frameWorldId,
                           bool enableService = true);

    explicit AbstractNode (const std::string& rosNamespace,
                           const std::string& frameWorldId,
                           const patternGenerator_t& pg,
                           bool enableService = true);

    ~AbstractNode ();

    void spin();

  protected:
    bool getPath(typename serviceRosType_t::Request& req,
                 typename serviceRosType_t::Response& res);

    virtual void convertFootprint
    (typename patternGenerator_t::footprints_t& dst,
     const std::vector<footprintRosType_t>& src) = 0;

    virtual void
    setupPatternGenerator (typename serviceRosType_t::Request& req) = 0;

    patternGenerator_t& patternGenerator ()
    {
      return patternGenerator_;
    }

    void prepareTopicsData (typename serviceRosType_t::Response& res,
                            bool startWithLeftFoot);

    void writeMotionAsParameter ();

  private:
    ros::NodeHandle nodeHandle_;

    ros::Rate rate_;

    ros::ServiceServer getPathSrv_;

    std::string frameName_;

    std::string parameterName_;

    patternGenerator_t patternGenerator_;

    visualization_msgs::MarkerArray footprints_;

    nav_msgs::Path leftFootPath_;
    nav_msgs::Path rightFootPath_;

    nav_msgs::Path comPath_;
    nav_msgs::Path zmpPath_;

    ros::Publisher footprintsPub_;
    ros::Publisher leftFootPub_;
    ros::Publisher rightFootPub_;
    ros::Publisher comPub_;
    ros::Publisher zmpPub_;

    double footPrintWidth_;
    double footPrintHeight_;
  };

} // end of namespace walk_msgs

# include <walk_msgs/abstract-node.hxx>
#endif //! WALK_MSGS_ABSTRACT_NODE_HH