AugmentedAcoustics.cpp
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00034  *  Author: Dula Nad
00035  *  Created: 13.06.2013.
00036  *********************************************************************/
00037 #include <labust/control/AugmentedAcoustics.hpp>
00038 
00039 #include <auv_msgs/BodyForceReq.h>
00040 
00041 using labust::control::AugmentedAcoustics;
00042 
00043 AugmentedAcoustics::AugmentedAcoustics()
00044 {
00045         this->onInit();
00046 }
00047 
00048 void AugmentedAcoustics::onInit()
00049 {
00050         ros::NodeHandle nh, ph("~");
00051         //Initialize publishers
00052         tauOut = nh.advertise<auv_msgs::BodyForceReq>("tauOut", 1);
00053 
00054         //Initialze subscribers
00055         targetRef = nh.subscribe<auv_msgs::NavSts>("target_point", 1,
00056                         &AugmentedAcoustics::handleTarget,this);
00057         stateHat = nh.subscribe<auv_msgs::NavSts>("stateHat", 1,
00058                         &AugmentedAcoustics::handleEstimates,this);
00059         manualIn = nh.subscribe<sensor_msgs::Joy>("joy",1,
00060                         &AugmentedAcoustics::handleManual,this,
00061                         ros::TransportHints().unreliable());
00062 }
00063 
00064 void AugmentedAcoustics::handleTarget(const auv_msgs::NavSts::ConstPtr& target)
00065 {
00066 
00067 }
00068 
00069 void AugmentedAcoustics::handleManual(const sensor_msgs::Joy::ConstPtr& joy)
00070 {
00071 
00072 }
00073 
00074 void AugmentedAcoustics::handleEstimates(const auv_msgs::NavSts::ConstPtr& estimate)
00075 {
00076 
00077 };
00078 
00079 void AugmentedAcoustics::step()
00080 {
00081         auv_msgs::BodyForceReq tau;
00082         tauOut.publish(tau);
00083 }
00084 
00085 void AugmentedAcoustics::start()
00086 {
00087         ros::spin();
00088 }


acoustic_vr
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autogenerated on Fri Feb 7 2014 11:37:09