Program Listing for File range_sensor_model.hpp

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#ifndef FUSE_TUTORIALS__RANGE_SENSOR_MODEL_HPP_
#define FUSE_TUTORIALS__RANGE_SENSOR_MODEL_HPP_

#include <memory>
#include <string>
#include <unordered_map>

#include <fuse_core/async_sensor_model.hpp>
#include <fuse_core/uuid.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>


namespace fuse_tutorials
{
class RangeSensorModel : public fuse_core::AsyncSensorModel
{
public:
  // It is convenient to have some typedefs for various smart pointer types (shared, unique, etc.).
  // A macro is provided to make it easy to define these typedefs and ensures that the naming is
  // consistent throughout all fuse packages.
  FUSE_SMART_PTR_DEFINITIONS(RangeSensorModel)


  RangeSensorModel()
  : fuse_core::AsyncSensorModel(1), logger_(rclcpp::get_logger("uninitialized")) {}

  void initialize(
    fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    const std::string & name,
    fuse_core::TransactionCallback transaction_callback) override;

  void priorBeaconsCallback(const sensor_msgs::msg::PointCloud2 & msg);

  void rangesCallback(const sensor_msgs::msg::PointCloud2 & msg);

protected:
  void onInit() override;

  void onStart() override;

  void onStop() override;

  struct Beacon
  {
    double x;
    double y;
    double sigma;
  };

  fuse_core::node_interfaces::NodeInterfaces<
    fuse_core::node_interfaces::Base,
    fuse_core::node_interfaces::Logging,
    fuse_core::node_interfaces::Topics,
    fuse_core::node_interfaces::Waitables
  > interfaces_;

  rclcpp::Logger logger_;

  std::unordered_map<unsigned int, Beacon> beacon_db_;

  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr beacon_sub_;
  bool initialized_ {false};

  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
};

}  // namespace fuse_tutorials

#endif  // FUSE_TUTORIALS__RANGE_SENSOR_MODEL_HPP_