GraftOdometryTopic.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
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/*
 * Author: Chad Rockey
 */

#ifndef GRAFT_INCLUDE_GRAFT_GRAFT_ODOMETRY_TOPIC_H
#define GRAFT_INCLUDE_GRAFT_GRAFT_ODOMETRY_TOPIC_H

#include <graft/GraftSensor.h>
#include <ros/ros.h>
#include <Eigen/Dense>
#include <nav_msgs/Odometry.h>
#include <tf/transform_datatypes.h>
#include <numeric>

using namespace Eigen;

class GraftOdometryTopic: public GraftSensor
{
public:
  GraftOdometryTopic();

  ~GraftOdometryTopic();

  void callback(const nav_msgs::Odometry::ConstPtr& msg);

  virtual graft::GraftSensorResidual::Ptr h(const graft::GraftState& state);

  virtual graft::GraftSensorResidual::Ptr z();

  virtual void setName(const std::string& name);

  virtual std::string getName();

  virtual void clearMessage();

  //virtual MatrixXd H(graft::GraftState& state);

  //virtual MatrixXd y(graft::GraftState& predicted);

  //virtual MatrixXd R();

  void useAbsolutePose(bool absolute_pose);

  void useDeltaPose(bool delta_pose);

  void useVelocities(bool use_velocities);

  void setTimeout(double timeout);

  void setPoseCovariance(boost::array<double, 36>& cov);

  void setTwistCovariance(boost::array<double, 36>& cov);

private:
  nav_msgs::Odometry::ConstPtr getMsg();

  ros::Subscriber sub_;
  nav_msgs::Odometry::ConstPtr msg_;
  nav_msgs::Odometry::ConstPtr last_msg_; // Used for delta calculations

  std::string name_;
  bool absolute_pose_;
  bool delta_pose_;
  bool use_velocities_;
  ros::Duration timeout_;

  boost::array<double, 36> pose_covariance_;
  boost::array<double, 36> twist_covariance_;
};

#endif  // GRAFT_INCLUDE_GRAFT_GRAFT_ODOMETRY_TOPIC_H