ros_gnc_control_state.h

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// Copyright 2017 Intelligent Robotics Geoup, NASA ARC
 
#ifndef DDS_ROS_BRIDGE_ROS_GNC_CONTROL_STATE_H_
#define DDS_ROS_BRIDGE_ROS_GNC_CONTROL_STATE_H_
 
#include <string>
 
#include "dds_ros_bridge/ros_sub_rapid_pub.h"
#include "dds_ros_bridge/util.h"
 
#include "ff_msgs/ControlState.h"
 
#include "knDds/DdsTypedSupplier.h"
 
#include "rapidDds/RapidConstants.h"
 
#include "rapidIo/RapidIoParameters.h"
 
#include "rapidUtil/RapidHelper.h"
 
#include "dds_msgs/AstrobeeConstants.h"
#include "dds_msgs/GncControlStateSupport.h"
 
namespace ff {
 
class RosGncControlStateToRapid : public RosSubRapidPub {
 public:
  RosGncControlStateToRapid(const std::string& subscribe_topic,
                            const std::string& pub_topic,
                            const ros::NodeHandle& nh,
                            const unsigned int queue_size = 10);
 
  void CopyVec3D(rapid::Vec3d& vec_out, const geometry_msgs::Vector3& vec_in);
  void MsgCallback(const ff_msgs::ControlStateConstPtr& msg);
  void PubGncControlState(const ros::TimerEvent& event);
  void SetGncPublishRate(float rate);
 
 private:
  ff_msgs::ControlStateConstPtr gnc_msg_;
 
  using StateSupplier =
    kn::DdsTypedSupplier<rapid::ext::astrobee::GncControlState>;
  using StateSupplierPtr = std::unique_ptr<StateSupplier>;
 
  StateSupplierPtr state_supplier_;
 
  ros::Timer gnc_timer_;
};
 
}  // end namespace ff
 
#endif  // DDS_ROS_BRIDGE_ROS_GNC_CONTROL_STATE_H_