BeamPublisher.hpp

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 *  Author: Gyula Nagy
 *  Created: 14.11.2013.
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#ifndef BEAMPUBLISHER_HPP_
#define BEAMPUBLISHER_HPP_
#include <labust/navigation/NavQuestMessages.hpp>
#include <labust/tools/conversions.hpp>

#include <geometry_msgs/TwistStamped.h>
#include <std_msgs/Float32MultiArray.h>
#include <ros/ros.h>

namespace labust
{
        namespace navigation
        {
                template<std::size_t N>
                struct BeamPublisher
                {
                        typedef boost::shared_ptr<BeamPublisher<N> > Ptr;
                        BeamPublisher(ros::NodeHandle nh, const std::string& topic)
                        {
                                pub = nh.advertise<std_msgs::Float32MultiArray>(topic,1);
                        }

                        void operator()(const float vec[N], int quality=50)
                        {
                                std_msgs::Float32MultiArrayPtr array(
                                                new std_msgs::Float32MultiArray());
                                //Condition speed mm/s -> m/s
                                float cond_vec[N];
                                for (int i=0; i<3;++i) cond_vec[i]=vec[i]/1000;
                                array->data.assign(&cond_vec[0],&cond_vec[N]);
                                //array->data.push_back(quality);
                                pub.publish(array);
                        }

                        ros::Publisher pub;
                };

                struct TwistPublisher
                {
                        typedef boost::shared_ptr<TwistPublisher> Ptr;
                        TwistPublisher(ros::NodeHandle nh, const std::string& topic,
                                        const std::string& frame_id):
                                                frame_id(frame_id)
                        {
                                pub = nh.advertise<geometry_msgs::TwistStamped>(topic,1);
                        }

                        void operator()(const float vec[3])
                        {
                                geometry_msgs::TwistStamped::Ptr twist(
                                                new geometry_msgs::TwistStamped());
                                twist->header.stamp=ros::Time();
                                twist->header.frame_id=frame_id;
                                //Condition speed mm/s -> m/s
                                float cond_vec[3];
                                for (int i=0; i<3;++i) cond_vec[i]=vec[i]/1000;
                                labust::tools::vectorToPoint(cond_vec,twist->twist.linear);
                                pub.publish(twist);
                        }

                        std::string frame_id;
                        ros::Publisher pub;
                };
        }
}

//BEAMPUBLISHER_HPP_
#endif