range_sim.cpp

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/*********************************************************************
 * range_sim.cpp
 *
 *  Created on: Aug 18, 2014
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#include <Eigen/Dense>
#include <ros/ros.h>
#include <auv_msgs/NavSts.h>
#include <std_msgs/Float32.h>

class RangeSim{

public:

        RangeSim(){

                ros::NodeHandle nh;

                vehiclePosSub = nh.subscribe<auv_msgs::NavSts>("meas_ideal",1,&RangeSim::onVehiclePos,this);
                targetPosSub = nh.subscribe<auv_msgs::NavSts>("target_pos",1,&RangeSim::onTargetPos,this);
                rangeMeas = nh.advertise<std_msgs::Float32>("rangeMeas",1);
        }

        ~RangeSim(){}

        void start(){

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

                while (ros::ok())
                {

                        range.data = (vehPos-tarPos).norm();
                        rangeMeas.publish(range);

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

                }
        }

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

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

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

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

        /*
         * Class variables
         */

        ros::Subscriber vehiclePosSub, targetPosSub;
        ros::Publisher rangeMeas;

        Eigen::Vector3d vehPos, tarPos;
        std_msgs::Float32 range;
};

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