kinton_arm_tag_tracker_alg_node.h

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// 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 _kinton_arm_tag_tracker_alg_node_h_
#define _kinton_arm_tag_tracker_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "kinton_arm_tag_tracker_alg.h"

// [publisher subscriber headers]
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/TwistWithCovariance.h>

using namespace KDL;
using namespace Eigen;
using namespace std;

// [service client headers]

// [action server client headers]

class KintonArmTagTrackerAlgNode : public algorithm_base::IriBaseAlgorithm<KintonArmTagTrackerAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher output_publisher_;
    sensor_msgs::JointState JointState_msg_;

    // [subscriber attributes]
    ros::Subscriber input_subscriber_;
    void input_callback(const geometry_msgs::TwistWithCovariance::ConstPtr& msg);
    CMutex input_mutex_;

    bool activate_; //When to activate the servoing.

    ros::Time time_,time_last_; //Time variables.
    double dt_; // Time diferential.
    bool init_; //Initialize timers and arm parameters.

    // Arm parameters
    Chain kdl_chain_; //Arm chain.
    int num_joints_; //Number of joints.
    bool cam_vel_ok_; // Check the camera velocities covariance.
    Matrix4d T_endeff_; // Homogenous Transform between inertial frame and arm end-effector frame. 

    geometry_msgs::Pose pose_; //Artag pose to compute Quadrotor position r.t. marker

    MatrixXd q_; // DOF variables. 

    MatrixXd cam_vel_; //Actual velocity of the camera from the visual servo.

    KintonArmTagTrackerAlgorithm tag_tracker_;

    void init_arm();
    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

  public:
    KintonArmTagTrackerAlgNode(void);

    ~KintonArmTagTrackerAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif