motion_controller_base.h

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/******************************************************************************
   STDR Simulator - Simple Two DImensional Robot Simulator
   Copyright (C) 2013 STDR Simulator
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU 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 General Public License for more details.
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software Foundation,
   Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
   
   Authors : 
   * Manos Tsardoulias, etsardou@gmail.com
   * Aris Thallas, aris.thallas@gmail.com
   * Chris Zalidis, zalidis@gmail.com 
******************************************************************************/

#ifndef MOTION_CONTROLLER_BASE_H
#define MOTION_CONTROLLER_BASE_H

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Pose2D.h>

namespace stdr_robot {
    
  class MotionController {
    
    public:
      
      virtual void velocityCallback(const geometry_msgs::Twist& msg) = 0;
      
      virtual void stop(void) = 0;
      
      virtual void calculateMotion(const ros::TimerEvent& event) = 0;
      
      inline geometry_msgs::Pose2D getPose(void)
      {
        return _pose;
      }
      
      inline void setPose(geometry_msgs::Pose2D new_pose)
      {
        _pose.x = new_pose.x;
        _pose.y = new_pose.y;
        _pose.theta = new_pose.theta;
      }
      
      inline geometry_msgs::Twist getVelocity() {
        return _currentTwist;
      }

      virtual ~MotionController(void) 
      {
      }
    
    protected:
      
      MotionController(
        const geometry_msgs::Pose2D& pose, 
        tf::TransformBroadcaster& tf, 
        const std::string& name)
          : _tfBroadcaster(tf), 
            _freq(0.1), 
            _namespace(name),
            _pose(pose) 
        { }

    protected:
      
      const std::string& _namespace;
      ros::Subscriber _velocitySubscrider;
      ros::Duration _freq;
      ros::Timer _calcTimer;
      tf::TransformBroadcaster& _tfBroadcaster;
      geometry_msgs::Pose2D _pose;
      geometry_msgs::Twist _currentTwist;
  };
    
  typedef boost::shared_ptr<MotionController> MotionControllerPtr;
    
}


#endif