USBLFilter.hpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, LABUST, UNIZG-FER
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the LABUST nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  Author: Dula Nad
*  Created: 02.04.2013.
*********************************************************************/
#ifndef USBLFILTER_HPP_
#define USBLFILTER_HPP_
#include <labust/navigation/KFCore.hpp>
#include <labust/navigation/KinematicModel.hpp>

#include <tf/transform_listener.h>
#include <geometry_msgs/PointStamped.h>
#include <nodelet/nodelet.h>
#include <ros/ros.h>

#include <boost/thread.hpp>

#include <string>

namespace labust
{
        namespace tritech
        {
                class USBLFilter : public nodelet::Nodelet
                {
                        typedef labust::navigation::KFCore<labust::navigation::KinematicModel> KFilter;
                public:
                        USBLFilter();
                        ~USBLFilter();

                        void onInit();
                        void run();

                protected:
                        void onUsbl(const geometry_msgs::PointStamped::ConstPtr& msg);
                        void configureModel(ros::NodeHandle& nh);

                        KFilter filter;
                        double depth;
                        boost::mutex dataMux;
                        boost::thread worker;

                        ros::Publisher navPub;
                        ros::Subscriber usblSub;
                        tf::TransformListener listener;
                        int timeout, iteration;
                        double maxSpeed;

                };
        }
}

/* USBLNODELET_HPP_ */
#endif