ScaleAllocation.hpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, LABUST, UNIZG-FER
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the LABUST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Author: Dula Nad
 *  Created: 06.03.2013.
 *********************************************************************/
#ifndef SCALEALLOCATION_HPP_
#define SCALEALLOCATION_HPP_
#include <labust/allocation/ThrustAllocation.hpp>
#include <Eigen/Dense>

#include <auv_msgs/BodyForceReq.h>

#include <nodelet/nodelet.h>
#include <ros/ros.h>

namespace labust
{
        namespace allocation
        {
                class ScaleAllocation : public nodelet::Nodelet
                {
                public:
                        ScaleAllocation();

                  virtual void onInit();

                protected:

                  virtual void onTauIn(const auv_msgs::BodyForceReq::ConstPtr tauIn);

                  ros::Subscriber tauIn;
                  ros::Publisher tauAch;
                  ros::Publisher revsAch;
                  ThrustAllocation alloc;
                };
        }
}

/* SCALEALLOCATION_HPP_ */
#endif