tibi_dabo_pitch_estimator_alg_node.cpp

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#include "tibi_dabo_pitch_estimator_alg_node.h"
#include <stdio.h>
#include <string.h>
#include <cmath>


TibiDaboPitchEstimatorAlgNode::TibiDaboPitchEstimatorAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<TibiDaboPitchEstimatorAlgorithm>(),
  result_lines_(Line_unknown_state),
  security_distance_(0.5),
  reg_line_(0.05)
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  this->front_laser_filtrado_publisher_ = this->public_node_handle_.advertise<sensor_msgs::LaserScan>("front_laser_filtrado", 100);
  this->rear_laser_filtrado_publisher_ = this->public_node_handle_.advertise<sensor_msgs::LaserScan>("rear_laser_filtrado", 100);
  this->MarkerArray_lines_publisher_ = this->public_node_handle_.advertise<visualization_msgs::MarkerArray>("MarkerArray_lines", 100);
  
  // [init subscribers]
    this->rear_laser_subscriber_ = this->public_node_handle_.subscribe("rear_laser", 100, &TibiDaboPitchEstimatorAlgNode::rear_laser_callback, this);
  this->front_laser_subscriber_ = this->public_node_handle_.subscribe("front_laser", 100, &TibiDaboPitchEstimatorAlgNode::front_laser_callback, this);
  this->pitch_subscriber_ = this->public_node_handle_.subscribe("pitch", 100, &TibiDaboPitchEstimatorAlgNode::pitch_callback, this);
  this->laser_subscriber_ = this->public_node_handle_.subscribe("laser", 100, &TibiDaboPitchEstimatorAlgNode::laser_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

TibiDaboPitchEstimatorAlgNode::~TibiDaboPitchEstimatorAlgNode(void)
{
  // [free dynamic memory]
}

void TibiDaboPitchEstimatorAlgNode::mainNodeThread(void)
{

//this->laser_mutex_.enter(); 
 this->alg_.lock(); 
                
                result_=reg_line_.linear_regression(laser_,a1,b1,a2,b2,error);

//NOTA: hacer switch con el enum de C++
                switch(result_){
                
                        case Claser_linear_regression::One_line:
                
                                //ROS_INFO("\n a1= %lf b1= %lf with error=%lf",a1,b1,error);
                                result_lines_ = One_line_state ;
                                line_node(a1,b1,a2,b2,result_lines_);
                                
                        break;
                
                        case Claser_linear_regression::Two_lines:
                
                                //ROS_INFO("\n a1= %lf b1= %lf a2= %lf b2= %lf with error=%lf",a1,b1,a2,b2,error);
                                result_lines_ = Two_lines_state ;
                                line_node(a1,b1,a2,b2,result_lines_);
                                                
                        break;
                
                        case Claser_linear_regression::Line_partial:
                
                                //ROS_INFO("\n a1= %lf b1= %lf with error=%lf",a1,b1,error);
                                result_lines_ = Line_partial_state ;
                                line_node(a1,b1,a2,b2,result_lines_);
                                
                        break;
                
                        case Claser_linear_regression::Line_unknown:
                
                                //ROS_INFO("\n too much error in linear regression");
                                result_lines_ = Line_unknown_state ;
                                line_node(a1,b1,a2,b2,result_lines_);
                        
                        break;
                
                }
                        
 this->alg_.unlock();
//this->laser_mutex_.exit(); 
  // [fill msg structures]
  //this->LaserScan_msg_.data = my_var;
  //this->MarkerArray_msg_.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
  
  this->MarkerArray_lines_publisher_.publish(this->MarkerArray_msg_);
}

/*  [subscriber callbacks] */
void TibiDaboPitchEstimatorAlgNode::pitch_callback(const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr& msg) 
{ 
  //ROS_INFO("TibiDaboPitchEstimatorAlgNode::pitch_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  this->alg_.lock(); 
  this->pitch_mutex_.enter(); 

  pitch=msg->pitch_angle;

  //unlock previously blocked shared variables 
  this->alg_.unlock(); 
  this->pitch_mutex_.exit(); 
}
void TibiDaboPitchEstimatorAlgNode::laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg) 
{ 
  //ROS_INFO("TibiDaboPitchEstimatorAlgNode::laser_callback: New Message Received");
  //use appropiate mutex to shared variables if necessary 
  this->laser_mutex_.enter(); 
                //iterative laser 
                //read the laser data
          this->alg_.lock();            
                laser_.clear();
                double angle = msg->angle_max;
                unsigned int max_i = (unsigned int) ( ( angle - 40.0*PI/180  ) / msg->angle_increment ); 

                for( unsigned int i = msg->ranges.size()-1; i > max_i  ; --i )
                {
                                //save laser point into "my" laser_
                        laser_.push_back( Cpoint(msg->ranges[i] * cos(angle)-0.25,0.84-msg->ranges[i] * sin(angle)) );
                        angle -= msg->angle_increment;

                }
        
          this->alg_.unlock();
  //unlock previously blocked shared variables 
  this->laser_mutex_.exit(); 

}

//function front_laser


void TibiDaboPitchEstimatorAlgNode::front_laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg) 
{ 
  //ROS_INFO("TibiDaboPitchEstimatorAlgNode::front_laser_callback: New Message Received");
  //use appropiate mutex to shared variables if necessary 
  //iterative front laser 
  //read the laser data
  this->laser_mutex_.enter();           
   this->alg_.lock(); 
                
        double  distance_intersection_=60,distance_point_laser_=0;
        
        LaserScan_front_msg_=*msg; //coge todo el mensage del front laser y lo copia a mi laser filtrado. (que saldra este por salida o este, con posicion del punto a 0.0, para flitrarlo.
        
        for( unsigned int i =0; i < msg->ranges.size()-1  ; ++i )
        {
        
                double inicial_point_x = 0.28;
                double inicial_point_y =0.44;
                                                
                double intersection_y = (0.44-b1)/a1+0.28 ;     
                double intersection_x = b1+0.44 ;
                
                if(a1>0){
                
                        distance_intersection_=sqrt((inicial_point_x-intersection_x)*(inicial_point_x-intersection_x)+(inicial_point_y-intersection_y)*(inicial_point_y-intersection_y));
                        distance_point_laser_=msg->ranges[i]; 
                        
                }       
                                 
                if(distance_intersection_< distance_point_laser_+security_distance_){
                
                        LaserScan_front_msg_.ranges[i]=0.0;
                
                }
                
        }

                this->front_laser_filtrado_publisher_.publish(this->LaserScan_front_msg_);
        
        //función para mostrar por pantalla los laseres del front laser para usarlos con matlab.
        

                double angle = msg->angle_min;

                for( unsigned int i =0 ; i < msg->ranges.size()-1  ; ++i )
                {

                        front_laser_point_x=msg->ranges[i] * cos(angle)-0.28;
                        front_laser_point_y=0.44-msg->ranges[i] * sin(angle);
                        marker_point_front_laser_node(front_laser_point_x,front_laser_point_y);
                        //printf("%lf %lf\n", msg->ranges[i] * cos(angle)-0.28,0.44-msg->ranges[i] * sin(angle));
                        angle += msg->angle_increment;

                }
        //printf("\n");
        //printf("\n");
        //printf("\n");
        
          this->alg_.unlock();
  //unlock previously blocked shared variables 
  this->laser_mutex_.exit(); 

}
 
//function rear_laser

void TibiDaboPitchEstimatorAlgNode::rear_laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg) 
{ 
  //ROS_INFO("TibiDaboPitchEstimatorAlgNode::rear_laser_callback: New Message Received");
  //use appropiate mutex to shared variables if necessary 
  //iterative rear laser 
  //read the laser data
  this->laser_mutex_.enter();           
   this->alg_.lock(); 
                
        double  distance_intersection_=60,distance_point_laser_=0;

        LaserScan_rear_msg_=*msg;
        
        for( unsigned int i =0; i < msg->ranges.size()-1  ; ++i )
        {

                double inicial_point_x = 0.28;
                double inicial_point_y =0.44;
                                                
                
                
                if(a1<0){
                
                double intersection_y = (0.44-b1)/(-a1)+0.28 ;  //double intersection_y = (0.44-b1_)/(-a1_)+0.28 ;
                double intersection_x = b1+0.44 ; //double intersection_x = b1_+0.44 ;
                
                        distance_intersection_=sqrt((inicial_point_x-intersection_x)*(inicial_point_x-intersection_x)+(inicial_point_y-intersection_y)*(inicial_point_y-intersection_y));
                        distance_point_laser_=msg->ranges[i]; 
                        
                }
                                 
                if(distance_intersection_< distance_point_laser_+security_distance_){

                        LaserScan_rear_msg_.ranges[i]=0.0;
        
                }
                
        }       
        
          this->rear_laser_filtrado_publisher_.publish(this->LaserScan_rear_msg_);
        
        //función para mostrar por pantalla los laseres del rear laser para usarlos con matlab.
        
        
                        double angle = msg->angle_min;

                for( unsigned int i =0 ; i < msg->ranges.size()-1  ; ++i )
                {
                
                        front_laser_point_x=msg->ranges[i] * cos(angle)-0.28;
                        front_laser_point_y=0.44-msg->ranges[i] * sin(angle);
                        marker_point_front_laser_node(front_laser_point_x,front_laser_point_y);
                        //printf("%lf %lf\n", msg->ranges[i] * cos(angle)-0.28,0.44-msg->ranges[i] * sin(angle));
                        angle += msg->angle_increment;

                }
        
        //printf("\n");
        //printf("\n");
        //printf("\n");
        
        this->alg_.unlock();
  //unlock previously blocked shared variables 
  this->laser_mutex_.exit(); 


}


//function to create lines in rviz, with the points of the laser.

void TibiDaboPitchEstimatorAlgNode::line_node(double& a1,double& b1,double& a2,double& b2, res_lines result_lines_)
{
        //line floor and wall marker
        line_marker_.points.clear();
        line_marker2_.points.clear();
        arrow_marker3_.points.clear();
        arrow_marker4_.points.clear();
        intersection_marker5_.points.clear();
        //distance_front_laser_marker6_.points.clear();
                //marker line1 floor
                geometry_msgs::Point ros_point;
                line_marker_.id=0;              
                line_marker_.header.frame_id = "/dabo/base_link";
                line_marker_.header.stamp = ros::Time();
                line_marker_.ns = "line floor";
                line_marker_.type = visualization_msgs::Marker::LINE_STRIP;
                line_marker_.action = visualization_msgs::Marker::ADD;
                line_marker_.lifetime = ros::Duration(1.0f);
                line_marker_.points.reserve(2);
                
        if ( line_marker_.points.size() <2)
                {
                        ros_point.x = -10;
                        ros_point.z =a1*ros_point.x+b1;
                        ros_point.y = 0;
                        line_marker_.points.push_back(ros_point);       
                        ros_point.x = 10;
                        ros_point.z=a1*ros_point.x+b1;
                        ros_point.y = 0;
                        line_marker_.points.push_back(ros_point);
                }
           
                line_marker_.scale.x = 0.05;
                line_marker_.color.a = 1.0;
                line_marker_.color.r = 0.0;
                line_marker_.color.g = 1.0;
                line_marker_.color.b = 0.0;

                //marker line2 wall
                geometry_msgs::Point ros_point2;
                line_marker2_.id=1;
                line_marker2_.header.frame_id = "/dabo/base_link";
                line_marker2_.header.stamp = ros::Time();               
                line_marker2_.ns = "line wall";
                line_marker2_.type = visualization_msgs::Marker::LINE_STRIP;
                line_marker2_.action = visualization_msgs::Marker::ADD;
                line_marker2_.lifetime = ros::Duration(3.0f);
                line_marker2_.points.reserve(2);
                
            if ( line_marker2_.points.size()<2)
                {
                        ros_point2.x =0;
                        ros_point2.z =a2*0+b2;
                        ros_point2.y =0;        
                        line_marker2_.points.push_back(ros_point2);
                
                        ros_point2.x =50;
                        ros_point2.z =a2*50+b2;
                        ros_point2.y =0;                
                        line_marker2_.points.push_back(ros_point2);
                }

                line_marker2_.scale.x = 0.05;
                line_marker2_.color.a = 1.0;
                line_marker2_.color.r = 0.0;
                line_marker2_.color.g = 0.0;
                line_marker2_.color.b = 1.0;
                
        //marker my_pitch       
                geometry_msgs::Point ros_point3;
                arrow_marker3_.id=3;            
                arrow_marker3_.header.frame_id = "/dabo/base_link";
                arrow_marker3_.header.stamp = ros::Time();
                arrow_marker3_.ns = "my_pitch";
                arrow_marker3_.type = visualization_msgs::Marker::ARROW;                
                arrow_marker3_.action = visualization_msgs::Marker::ADD;
                arrow_marker3_.lifetime = ros::Duration(1.0f);
                
        //arrow_marker3_.points.reserve(2);
        if ( arrow_marker3_.points.size() <2)
                {
                        ros_point3.x = 0;
                        ros_point3.z =0;
                        ros_point3.y = 0;
                        arrow_marker3_.points.push_back(ros_point3);
                        double x;                       
                        if(a1>0){
                        x=-5.0;
                        ros_point3.x = -5/sqrt(5*5+((-1/a1)*(-5)+b1)*((-1/a1)*(-5)+b1));        
                        }else{
                        x=5.0;
                        ros_point3.x = 5/sqrt(5*5+((-1/a1)*5+b1)*((-1/a1)*5+b1));
                        }
                        ros_point3.z= ((-1/a1)*x+b1)/sqrt(5*5+((-1/a1)*x+b1)*((-1/a1)*x+b1));// pitch line. witch Position 90º respect the floor.
                        ros_point3.y = 0.0;
                        arrow_marker3_.points.push_back(ros_point3);
        
                }
           
                arrow_marker3_.scale.x = 0.05;
                arrow_marker3_.scale.y = 0.05;
                arrow_marker3_.scale.z = 0.05;
        
                arrow_marker3_.color.a = 1.0;
                arrow_marker3_.color.r = 0.0;
                arrow_marker3_.color.g = 0.3;
                arrow_marker3_.color.b = 0.7;
                                
        //marker pitch  
                geometry_msgs::Point ros_point4;
                arrow_marker4_.id=4;            
                arrow_marker4_.header.frame_id = "/dabo/base_link";
                arrow_marker4_.header.stamp = ros::Time();
                arrow_marker4_.ns = "pitch";
                arrow_marker4_.type = visualization_msgs::Marker::ARROW;                
                arrow_marker4_.action = visualization_msgs::Marker::ADD;
                arrow_marker4_.lifetime = ros::Duration(1.0f);
                
        //arrow_marker4_.points.reserve(2);
        if ( arrow_marker4_.points.size() <2)
                {
                        double x;
                        ros_point4.x = 0;
                        ros_point4.z =0;
                        ros_point4.y = 0;
                        arrow_marker4_.points.push_back(ros_point4);
                        if(tan(pitch)>0){
                        x=-5.0;
                        ros_point4.x = -5/sqrt(5*5+((-1/tan(pitch))*(-5))*((-1/tan(pitch))*(-5)));
                        }
                        else{
                        x=5.0;
                        ros_point4.x = 5/sqrt(5*5+((-1/tan(pitch))*5)*((-1/tan(pitch))*5));
                        }
                        ros_point4.z= ((-1/tan(pitch))*x)/sqrt(x*x+((-1/tan(pitch))*x)*((-1/tan(pitch))*x));// pitch line. witch Position 90º respect the floor.
                        ros_point4.y = 0.0;
                        arrow_marker4_.points.push_back(ros_point4);
        
                }
           
                arrow_marker4_.scale.x = 0.05;
                arrow_marker4_.scale.y = 0.05;
                arrow_marker4_.scale.z = 0.05;
        
                arrow_marker4_.color.a = 1.0;
                arrow_marker4_.color.r = 0.7;
                arrow_marker4_.color.g = 0.3;
                arrow_marker4_.color.b = 0.0;
                        
                //marker intersection point     
                geometry_msgs::Point ros_point5;
                intersection_marker5_.id=5;             
                intersection_marker5_.header.frame_id = "/dabo/base_link";
                intersection_marker5_.header.stamp = ros::Time();
                intersection_marker5_.ns = "intersection_point";
                intersection_marker5_.type = visualization_msgs::Marker::ARROW;
                //intersection_marker5_.type = visualization_msgs::Marker::SPHERE;              
                intersection_marker5_.action = visualization_msgs::Marker::ADD;
                intersection_marker5_.lifetime = ros::Duration(1.0f);
        
                /*intersection_marker5_.pose.position.x=(0.44-b1)/a1+0.28;
                intersection_marker5_.pose.position.z=b1+0.44;//intersection point front_laser with floor.
                intersection_marker5_.pose.position.y=0;
                intersection_marker5_.points.push_back(ros_point5);*/
                //ROS_INFO("intersection point X=%lf intersection point Y= %lf" ,(0.44-b1)/a1,b1);      

                if ( intersection_marker5_.points.size() <2)
                {
                        ros_point5.x = 0.28;
                        ros_point5.z =0.44;
                        ros_point5.y = 0; //mirar.
                        intersection_marker5_.points.push_back(ros_point5);
                                                        
                        ros_point5.x = (0.44-b1)/a1+0.28;       
                        ros_point5.z=b1+0.44;// pitch line. witch Position 90º respect the floor.
                        ros_point5.y = 0.0;
                        intersection_marker5_.points.push_back(ros_point5);
        
                }

                intersection_marker5_.scale.x = 0.1;
                intersection_marker5_.scale.y = 0.1;
                intersection_marker5_.scale.z = 0.1;
        
                intersection_marker5_.color.a = 1.0;
                intersection_marker5_.color.r = 0.5;
                intersection_marker5_.color.g = 0.0;
                intersection_marker5_.color.b = 0.5;
                        
        /*//marker point        front laser
                        
                geometry_msgs::Point ros_point6;
                distance_front_laser_marker6_.id=5;             
                distance_front_laser_marker6_.header.frame_id = "/dabo/base_link";
                distance_front_laser_marker6_.header.stamp = ros::Time();
                distance_front_laser_marker6_.ns = "puntos_front_laser";
                //distance_front_laser_marker6_.type = visualization_msgs::Marker::ARROW;
                distance_front_laser_marker6_.type = visualization_msgs::Marker::SPHERE;        
                distance_front_laser_marker6_.action = visualization_msgs::Marker::ADD;
                distance_front_laser_marker6_.lifetime = ros::Duration(1.0f);   

                if ( distance_front_laser_marker6_.points.size() <2)
                {
                        ros_point6.x = 0.28 ;
                        ros_point6.z = 0.44 ;
                        ros_point6.y = 0 ; //mirar.
                        distance_front_laser_marker6_.points.push_back(ros_point6);
                                                        
                        ros_point6.x = distance_point_laser;    
                        ros_point6.z= 0 ;// pitch line. witch Position 90º respect the floor.
                        ros_point6.y = 0.0 ;
                        distance_front_laser_marker6_.points.push_back(ros_point6);
        
                }

                distance_front_laser_marker6_.pose.position.x=front_laser_point_x;
                distance_front_laser_marker6_.pose.position.y=front_laser_point_y;//point front_laser
                distance_front_laser_marker6_.pose.position.z=0.44;



                distance_front_laser_marker6_.scale.x = 0.1;
                distance_front_laser_marker6_.scale.y = 0.1;
                distance_front_laser_marker6_.scale.z = 0.1;
        
                distance_front_laser_marker6_.color.a = 1.0;
                distance_front_laser_marker6_.color.r = 0.5;
                distance_front_laser_marker6_.color.g = 1.0;
                distance_front_laser_marker6_.color.b = 0.0;*/
        
        
        
        
                switch(result_lines_){
                
                        case One_line_state:
                        
                                        MarkerArray_msg_.markers.clear();
                                        //MarkerArray_msg_.markers.push_back(distance_front_laser_marker6_);
                                        MarkerArray_msg_.markers.push_back(arrow_marker3_);     
                                        MarkerArray_msg_.markers.push_back(arrow_marker4_);
                                        MarkerArray_msg_.markers.push_back(intersection_marker5_);      
                                        MarkerArray_msg_.markers.push_back(line_marker_);
                        //ROS_INFO("caso: %d" , One_line_state);
                        break;
                
                        case Two_lines_state:
                        
                                MarkerArray_msg_.markers.clear();
                                //MarkerArray_msg_.markers.push_back(distance_front_laser_marker6_);
                                MarkerArray_msg_.markers.push_back(arrow_marker4_);     
                                MarkerArray_msg_.markers.push_back(arrow_marker3_);
                                MarkerArray_msg_.markers.push_back(intersection_marker5_);      
                                MarkerArray_msg_.markers.push_back(line_marker_);
                                MarkerArray_msg_.markers.push_back(line_marker2_);
                        //ROS_INFO("caso: %d" , Two_lines_state);
                        break;
                        
                        case Line_partial_state:
                        
                                MarkerArray_msg_.markers.clear();
                                //MarkerArray_msg_.markers.push_back(distance_front_laser_marker6_);
                                MarkerArray_msg_.markers.push_back(arrow_marker4_);     
                                MarkerArray_msg_.markers.push_back(arrow_marker3_);     
                                MarkerArray_msg_.markers.push_back(intersection_marker5_);
                                MarkerArray_msg_.markers.push_back(line_marker_);
                        //ROS_INFO("caso: %d" , Line_partial_state);
                        break;
                
                        case Line_unknown_state:
                                
                                MarkerArray_msg_.markers.clear();
                        //ROS_INFO("caso: %d" , Line_unknown_state);
                        break;
                
                }
        
}

void TibiDaboPitchEstimatorAlgNode::marker_point_front_laser_node(double front_laser_point_x, double front_laser_point_y)
{

        //marker point  front laser             
                distance_front_laser_marker6_.points.clear();
                geometry_msgs::Point ros_point6;
                distance_front_laser_marker6_.id=6;             
                distance_front_laser_marker6_.header.frame_id = "/dabo/base_link";
                distance_front_laser_marker6_.header.stamp = ros::Time();
                distance_front_laser_marker6_.ns = "puntos_front_laser";
                //distance_front_laser_marker6_.type = visualization_msgs::Marker::ARROW;
                distance_front_laser_marker6_.type = visualization_msgs::Marker::SPHERE;        
                distance_front_laser_marker6_.action = visualization_msgs::Marker::ADD;
                distance_front_laser_marker6_.lifetime = ros::Duration(1.0f);   

                /*if ( distance_front_laser_marker6_.points.size() <2)
                {
                        ros_point6.x = 0.28 ;
                        ros_point6.z = 0.44 ;
                        ros_point6.y = 0 ; //mirar.
                        distance_front_laser_marker6_.points.push_back(ros_point6);
                                                        
                        ros_point6.x = distance_point_laser;    
                        ros_point6.z= 0 ;// pitch line. witch Position 90º respect the floor.
                        ros_point6.y = 0.0 ;
                        distance_front_laser_marker6_.points.push_back(ros_point6);
        
                }*/

                distance_front_laser_marker6_.pose.position.x=front_laser_point_x;
                distance_front_laser_marker6_.pose.position.y=front_laser_point_y;
                distance_front_laser_marker6_.pose.position.z=0.44;

                distance_front_laser_marker6_.scale.x = 0.2;
                distance_front_laser_marker6_.scale.y = 0.2;
                distance_front_laser_marker6_.scale.z = 0.2;
        
                distance_front_laser_marker6_.color.a = 1.0;
                distance_front_laser_marker6_.color.r = 1.0;
                distance_front_laser_marker6_.color.g = 0.0;
                distance_front_laser_marker6_.color.b = 0.0;
                MarkerArray_msg_.markers.clear();
        MarkerArray_msg_.markers.push_back(distance_front_laser_marker6_);
}       
        
        


/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void TibiDaboPitchEstimatorAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void TibiDaboPitchEstimatorAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<TibiDaboPitchEstimatorAlgNode>(argc, argv, "tibi_dabo_pitch_estimator_alg_node");
}