USBLSim.cpp

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/*********************************************************************
 * USBLSim.cpp
 *
 *  Created on: Mar 2, 2015
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#include <Eigen/Dense>
#include <ros/ros.h>
#include <auv_msgs/NavSts.h>
#include <std_msgs/Float32.h>
#include <underwater_msgs/USBLFix.h>
#include <labust/math/NumberManipulation.hpp>

class USBLSim{

public:

        USBLSim(){

                ros::NodeHandle nh;

                subVehiclePos = nh.subscribe<auv_msgs::NavSts>("pos_first",1,&USBLSim::onVehiclePos,this);
                subTargetPos = nh.subscribe<auv_msgs::NavSts>("pos_second",1,&USBLSim::onTargetPos,this);
                pubUSBLFix = nh.advertise<underwater_msgs::USBLFix>("usbl_fix",1);
                pubRange = nh.advertise<std_msgs::Float32>("range",1);

        }

        ~USBLSim(){}

        void start(){

                ros::NodeHandle ph("~");
                double Ts(1.0);
                ph.param("Trange",Ts,Ts);
                ros::Rate rate(1/Ts);

                int i = 0;

                while (ros::ok()){


                        if(i++==0) continue;
                        range = (vehPos-tarPos).norm();
                        bearing = labust::math::wrapRad(std::atan2(double(vehPos(1)-tarPos(1)),double(vehPos(0)-tarPos(0)))-0*vehYaw);
                        elevation = std::asin((double(vehPos(2)-tarPos(2)))/range);


                        usbl.header.stamp = ros::Time::now();
                        usbl.range = range;
                        usbl.bearing = bearing;
                        usbl.elevation = elevation;

                        std_msgs::Float32 range;
                        range.data = usbl_past.range;
                        pubRange.publish(range);

                        pubUSBLFix.publish(usbl_past);

                        usbl_past = usbl;


                        rate.sleep();
                        ros::spinOnce();
                }
        }

        void onVehiclePos(const auv_msgs::NavSts::ConstPtr& data){

                vehPos << data->position.north, data->position.east, data->position.depth;
                vehYaw = data->orientation.yaw;
        }

        void onTargetPos(const auv_msgs::NavSts::ConstPtr& data){

                tarPos << data->position.north, data->position.east, data->position.depth;
        }

        /*
         * Class variables
         */

        ros::Subscriber subVehiclePos, subTargetPos;
        ros::Publisher pubUSBLFix, pubRange;

        Eigen::Vector3d vehPos, tarPos;
        double vehYaw;
        //std_msgs::Float32 range, bearing, elevation;
        double range, bearing, elevation;



        underwater_msgs::USBLFix usbl, usbl_past;
};

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"range_sim");
        USBLSim usblSim;
        usblSim.start();
        return 0;
}