sensor_base.h

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/******************************************************************************
   STDR Simulator - Simple Two DImensional Robot Simulator
   Copyright (C) 2013 STDR Simulator
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 3 of the License, or
   (at your option) any later version.
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software Foundation,
   Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
   
   Authors : 
   * Manos Tsardoulias, etsardou@gmail.com
   * Aris Thallas, aris.thallas@gmail.com
   * Chris Zalidis, zalidis@gmail.com 
******************************************************************************/

#ifndef SENSOR_H
#define SENSOR_H

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/Pose2D.h>

namespace stdr_robot {

  class Sensor {
    
    public:
      
      virtual void updateSensorCallback(void) = 0;
      
      inline geometry_msgs::Pose2D getSensorPose(void) const
      {
        return _sensorPose;
      }
      
      inline std::string getFrameId(void) const
      {
        return _namespace + "_" + _sensorFrameId;
      } 
      
      virtual ~Sensor(void) 
      {
      }
    
    protected:
      
      Sensor(
            const nav_msgs::OccupancyGrid& map,
            const std::string& name,
            ros::NodeHandle& n,
            const geometry_msgs::Pose2D& sensorPose,
            const std::string& sensorFrameId,
            float updateFrequency);
      
      void checkAndUpdateSensor(const ros::TimerEvent& ev);
      
      void updateTransform(const ros::TimerEvent& ev);
      
    protected:
    
      const std::string& _namespace;
      const nav_msgs::OccupancyGrid& _map;
      
      const geometry_msgs::Pose2D _sensorPose;
      const float _updateFrequency;
      const std::string _sensorFrameId;
      
      ros::Timer _timer;
      ros::Timer _tfTimer;
      
      ros::Publisher _publisher;
      tf::TransformListener _tfListener;
      tf::StampedTransform _sensorTransform;
      
      bool _gotTransform;
  };

  typedef boost::shared_ptr<Sensor> SensorPtr;
  typedef std::vector<SensorPtr> SensorPtrVector;
    
}

#endif