tibi_dabo_pitch_estimator_alg_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 _tibi_dabo_pitch_estimator_alg_node_h_
#define _tibi_dabo_pitch_estimator_alg_node_h_

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


#include "laser_linear_regression.h"

// [publisher subscriber headers]
#include <iri_segway_rmp_msgs/SegwayRMP200Status.h>
#include <visualization_msgs/MarkerArray.h>

#include <sensor_msgs/LaserScan.h>
//#include <geometry_msgs/PointStamped.h>
#include <string>

#define PI 3.14159265358

// [service client headers]

// [action server client headers]


//enum res_lines {One_line_state=0, Two_lines_state, Line_partial_state, Line_unknown_state };

class TibiDaboPitchEstimatorAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboPitchEstimatorAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher front_laser_filtrado_publisher_;
    sensor_msgs::LaserScan LaserScan_front_msg_;
    
    ros::Publisher rear_laser_filtrado_publisher_;
    sensor_msgs::LaserScan LaserScan_rear_msg_;
   /* ros::Publisher rear_laser_filtrado_publisher_;
    sensor_msgs::LaserScan LaserScan_msg_;*/
    ros::Publisher MarkerArray_lines_publisher_;
    visualization_msgs::MarkerArray MarkerArray_msg_;
    
                /*MarkerArray_msg_.markers.clear();
                                        MarkerArray_msg_.markers.push_back(distance_front_laser_marker6_);*/
                                        
//variables and functions to fill the visualization messages=markers.
        
        visualization_msgs::Marker line_marker_;
        visualization_msgs::Marker line_marker2_;
        visualization_msgs::Marker arrow_marker3_;
        visualization_msgs::Marker arrow_marker4_;
        visualization_msgs::Marker intersection_marker5_;
        visualization_msgs::Marker distance_front_laser_marker6_;
        enum res_lines{One_line_state=0, Two_lines_state, Line_partial_state, Line_unknown_state };
        res_lines result_lines_;
        
//node functions.       
        
        void line_node(double& a1,double& b1,double& a2,double& b2,res_lines result_lines_);
        void marker_point_front_laser_node(double front_laser_point_x, double front_laser_point_y);
        
    // [subscriber attributes]
    ros::Subscriber rear_laser_subscriber_;
    void rear_laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex rear_laser_mutex_;
    
    ros::Subscriber front_laser_subscriber_;
    void front_laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex front_laser_mutex_;

    ros::Subscriber pitch_subscriber_;
    void pitch_callback(const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr& msg);
    CMutex pitch_mutex_;

    ros::Subscriber laser_subscriber_;
    void laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex laser_mutex_;
    

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]


   //simulation variables

        
        double a1,b1,a2,b2,error,my_pitch_angle_,pitch;
        double front_laser_point_x,front_laser_point_y, rear_laser_point_x,rear_laser_point_y;
        double security_distance_; //margen de distancia para filtrar los puntos del front laser en funcion de la interseccion con el suelo.

   //for the debugging mode
        
        

  public:
    TibiDaboPitchEstimatorAlgNode(void);

    ~TibiDaboPitchEstimatorAlgNode(void);



    //my stuff
    Claser_linear_regression reg_line_;
    vector<Cpoint> laser_;
    Cpoint point, intersection_;
    Claser_linear_regression::linear_regression_result result_, result_horizontal;
        
  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif