kobuki_bumper2pc.hpp

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/*
 * Copyright (c) 2013, Yujin Robot.
 * 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 Yujin Robot 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
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#ifndef _KOBUKI_BUMPER2PC_HPP_
#define _KOBUKI_BUMPER2PC_HPP_

/*****************************************************************************
 ** Includes
 *****************************************************************************/

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

#include <sensor_msgs/PointCloud2.h>

#include <kobuki_msgs/SensorState.h>

/*****************************************************************************
 ** Namespace
 *****************************************************************************/

namespace kobuki_bumper2pc
{

class Bumper2PcNodelet : public nodelet::Nodelet
{
public:
  Bumper2PcNodelet()
    : P_INF_X(+100*sin(0.34906585)),
      P_INF_Y(+100*cos(0.34906585)),
      N_INF_Y(-100*cos(0.34906585)),
      ZERO(0), prev_bumper(0), prev_cliff(0) { }
  ~Bumper2PcNodelet() { }

  void onInit();

private:
  const float P_INF_X;  // somewhere out of reach from the robot (positive x)
  const float P_INF_Y;  // somewhere out of reach from the robot (positive y)
  const float N_INF_Y;  // somewhere out of reach from the robot (negative y)
  const float ZERO;

  uint8_t prev_bumper;
  uint8_t prev_cliff;

  float pc_radius_;
  float pc_height_;
  float p_side_x_;
  float p_side_y_;
  float n_side_y_;

  ros::Publisher  pointcloud_pub_;
  ros::Subscriber core_sensor_sub_;

  sensor_msgs::PointCloud2 pointcloud_;

  void coreSensorCB(const kobuki_msgs::SensorState::ConstPtr& msg);
};

} // namespace kobuki_bumper2pc

#endif // _KOBUKI_BUMPER2PC_HPP_