IdentificationNode.hpp

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#ifndef IDENTIFICATIONNODE_HPP_
#define IDENTIFICATIONNODE_HPP_
#include <labust/control/SOIdentification.hpp>
#include <labust/simulation/matrixfwd.hpp>

#include <auv_msgs/NavSts.h>
#include <actionlib/server/simple_action_server.h>
#include <navcon_msgs/DOFIdentificationAction.h>
#include <ros/ros.h>

#include <Eigen/Dense>

namespace labust
{
        namespace control
        {
                class IdentificationNode
                {
                        enum {x=0,y,z,roll,pitch,yaw,altitude, u, v, w, measNum};
                        enum {X=0,Y,Z,K,M,N};
                        enum {alpha=0,beta,betaa};

                        typedef navcon_msgs::DOFIdentificationAction Action;
                        typedef actionlib::SimpleActionServer<Action> ActionServer;
                        typedef boost::shared_ptr<ActionServer> ActionServerPtr;
                        typedef navcon_msgs::DOFIdentificationGoal Goal;
                        typedef navcon_msgs::DOFIdentificationResult Result;

                        typedef Eigen::Matrix<double, measNum,1> MeasVec;

                public:
                        IdentificationNode();
                        void onInit();

                private:
                        void onMeasurement(const auv_msgs::NavSts::ConstPtr& meas);
                        void doIdentification(const Goal::ConstPtr& goal);
                        void setTau(int elem, double value);

                        ros::Publisher tauOut, stateOut;
                        ros::Subscriber meas;
                  ActionServerPtr aserver;
                  boost::thread identrunner;
                  MeasVec measurements;
                  bool integrateUV;
                  bool useUV;
                  bool useW;
                  double cumulative_error;
                  boost::mutex measmux;
                };
        }
}

/* IDENTIFICATIONNODE_HPP_ */
#endif