Program Listing for File state_estimator.hpp

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/*!*******************************************************************************************
 *  \file       state_estimator.hpp
 *  \brief      An state estimation server for AeroStack2
 *  \authors    Miguel Fernández Cortizas
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 *              Pedro Arias Pérez
 *
 *  \copyright  Copyright (c) 2022 Universidad Politécnica de Madrid
 *              All Rights Reserved
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. 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.
 * 3. Neither the name of the copyright holder 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 HOLDER 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.
 ********************************************************************************/

#ifndef __AS2__STATE_ESTIMATOR_HPP_
#define __AS2__STATE_ESTIMATOR_HPP_

#include <tf2_ros/buffer.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>

#include <filesystem>
#include <pluginlib/class_loader.hpp>
#include "plugin_base.hpp"

#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <rclcpp/rclcpp.hpp>

#include "as2_core/names/topics.hpp"
#include "as2_core/node.hpp"
#include "as2_core/utils/frame_utils.hpp"
#include "as2_core/utils/tf_utils.hpp"
#include "nav_msgs/msg/odometry.hpp"

class StateEstimator : public as2::Node {
public:
  StateEstimator();
  ~StateEstimator(){};

private:
  std::filesystem::path plugin_name_;
  std::shared_ptr<pluginlib::ClassLoader<as2_state_estimator_plugin_base::StateEstimatorBase>>
      loader_;
  std::shared_ptr<as2_state_estimator_plugin_base::StateEstimatorBase> plugin_ptr_;
  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tfstatic_broadcaster_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_{nullptr};
};

#endif  // BASIC_STATE_ESTIMATOR_HPP_