tcm3_compass_driver_node.h

Go to the documentation of this file.

// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
//
// IMPORTANT NOTE: This code has been generated through a script from the
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _tcm3_compass_driver_node_h_
#define _tcm3_compass_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "tcm3_compass_driver.h"

// [publisher subscriber headers]
#include <iri_common_drivers_msgs/compass3axis.h>

// [service client headers]

// [action server client headers]

class Tcm3CompassDriverNode : public iri_base_driver::IriBaseNodeDriver<Tcm3CompassDriver>
{
  private:
    // [publisher attributes]
    ros::Publisher tcm3_publisher_;
    iri_common_drivers_msgs::compass3axis compass3axis_msg_;
    double heading_;
    double pitch_;
    double roll_;
    bool distortion_;
    uint data_counter_;
    vector <double> vheading_;
    vector <double> vroll_;
    vector <double> vpitch_;
    uint covariance_buffer_length_;


    void covarianceMatrix(vector <double> x, vector <double> y, vector <double> z, vector <double> & matrix);
    double covariance(vector <double> x, vector <double> y);

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    void postNodeOpenHook(void);

  public:
    Tcm3CompassDriverNode(ros::NodeHandle& nh);

    ~Tcm3CompassDriverNode();

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif