calibrator.h

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/****************************************************************************
 *
 * $Id: file.h 3496 2011-11-22 15:14:32Z fnovotny $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Contact visp@irisa.fr if any conditions of this licensing are
 * not clear to you.
 *
 * Description:
 * Calibrator node
 *
 * Authors:
 * Filip Novotny
 *
 *
 *****************************************************************************/

#ifndef __visp_hand2eye_calibration_CALIBRATOR_H__
#define __visp_hand2eye_calibration_CALIBRATOR_H__
#include "ros/ros.h"

#include "geometry_msgs/Transform.h"
#include "visp_hand2eye_calibration/TransformArray.h"
#include "visp_hand2eye_calibration/compute_effector_camera_quick.h"
#include "visp_hand2eye_calibration/compute_effector_camera.h"
#include "visp_hand2eye_calibration/reset.h"
#include "image_proc/advertisement_checker.h"

#include <vector>

class vpHomogeneousMatrix;

namespace visp_hand2eye_calibration{
 
  class Calibrator{
  private:    
    //subscribers. Must be class-persistant
    ros::ServiceServer compute_effector_camera_service_;
    ros::ServiceServer compute_effector_camera_quick_service_;
    ros::ServiceServer reset_service_;
    ros::Subscriber camera_object_subscriber_;
    ros::Subscriber world_effector_subscriber_;
    image_proc::AdvertisementChecker check_inputs_;

    std::vector<vpHomogeneousMatrix> cMo_vec_;
    std::vector<vpHomogeneousMatrix> wMe_vec_;
    ros::NodeHandle n_;

    unsigned int queue_size_;

    void cameraObjectCallback(const geometry_msgs::Transform::ConstPtr& trans);
    void worldEffectorCallback(const geometry_msgs::Transform::ConstPtr& trans);

    bool computeEffectorCameraCallback(visp_hand2eye_calibration::compute_effector_camera::Request  &req,
                                         visp_hand2eye_calibration::compute_effector_camera::Response &res );

    bool computeEffectorCameraQuickCallback(visp_hand2eye_calibration::compute_effector_camera_quick::Request  &req,
                                               visp_hand2eye_calibration::compute_effector_camera_quick::Response &res );
    bool resetCallback(visp_hand2eye_calibration::reset::Request  &req,
                        visp_hand2eye_calibration::reset::Response &res );
  public:
    typedef boost::function<bool (visp_hand2eye_calibration::compute_effector_camera::Request&,visp_hand2eye_calibration::compute_effector_camera::Response& res)>
      compute_effector_camera_service_callback_t;
    typedef boost::function<bool (visp_hand2eye_calibration::compute_effector_camera_quick::Request&,visp_hand2eye_calibration::compute_effector_camera_quick::Response& res)>
      compute_effector_camera_quick_service_callback_t;
    typedef boost::function<bool (visp_hand2eye_calibration::reset::Request&,visp_hand2eye_calibration::reset::Response& res)>
      reset_service_callback_t;
    
    typedef boost::function<void (const geometry_msgs::Transform::ConstPtr& )>
      camera_object_subscriber_callback_t;
    typedef boost::function<void (const geometry_msgs::Transform::ConstPtr& trans)>
      world_effector_subscriber_t;

    Calibrator();
    void spin();
    ~Calibrator();
  
  };
}
#endif