ParticlePlume.h

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* Author: Gonçalo Cabrita on 28/11/2010
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#include <ros/ros.h>
#include <lse_sensor_msgs/Nostril.h>
#include <pcl_ros/publisher.h>
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <nav_msgs/GridCells.h>
#include <vector>

#include "Particle.h"

namespace particle_plume
{
        class ParticlePlume
        {
                public:
                ParticlePlume();
                ~ParticlePlume();
        

                void publishPlume();
        
                private:
        
                struct BubbleData
                {
                        geometry_msgs::PointStamped bubble_center;
                        int number_of_particles;
                };
                
                struct CellCandidate
                {
                        geometry_msgs::Point point;
                        bool push;      
                };
        
                ros::NodeHandle n_;
                ros::NodeHandle pn_;
                
                pcl_ros::Publisher<Particle> plume_pub_;
                ros::Publisher cells_pub_;
                
                message_filters::Subscriber<lse_sensor_msgs::Nostril> nose_sub_;
                tf::TransformListener tf_;
                tf::MessageFilter<lse_sensor_msgs::Nostril> * tf_filter_;
        
                pcl::PointCloud<Particle> plume_;
                
                nav_msgs::GridCells cells_;
                
                std::vector<ros::Time> cells_birth_;
                
                bool cells_changed_;
        
                std::vector<BubbleData> odor_readings_;
        
                std::string global_frame_id_;
        

                double bubble_radius_;

                int max_particles_per_bubble_;

                int particle_life_time_;

                double publish_frequency_;

                double cell_size_;

                std::string sensor_model_;
        

                void noseCallback(const boost::shared_ptr<const lse_sensor_msgs::Nostril>& msg);
                

                float drand();

                double randomNormal();
        };
}

// EOF