ros_odom_rapid_position.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef DDS_ROS_BRIDGE_ROS_ODOM_RAPID_POSITION_H_
#define DDS_ROS_BRIDGE_ROS_ODOM_RAPID_POSITION_H_
 
#include <string>
#include <memory>
 
#include "dds_ros_bridge/ros_sub_rapid_pub.h"
#include "dds_ros_bridge/rapid_position_provider_ros_helper.h"
#include "dds_ros_bridge/util.h"
 
#include "ff_msgs/EkfState.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/EkfStateSupport.h"
 
namespace ff {
 
class RosOdomRapidPosition : public RosSubRapidPub {
 public:
  RosOdomRapidPosition(const std::string& subscribe_topic,
                       const std::string& pub_topic,
                       const ros::NodeHandle& nh,
                       const unsigned int queue_size = 10);
 
  void CopyTransform3D(rapid::Transform3D& transform,
                       const geometry_msgs::Pose& pose);
  void CopyVec3D(rapid::Vec3d& vec_out, const geometry_msgs::Vector3& vec_in);
  void MsgCallback(const ff_msgs::EkfStateConstPtr& msg);
  void PubEkf(const ros::TimerEvent& event);
  void PubPosition(const ros::TimerEvent& event);
  void SetEkfPublishRate(float rate);
  void SetPositionPublishRate(float rate);
 
 private:
  rapid::PositionTopicPairParameters params_;
  std::shared_ptr<rapid::PositionProviderRosHelper> provider_;
 
  ff_msgs::EkfStateConstPtr ekf_msg_;
 
  using StateSupplier =
      kn::DdsTypedSupplier<rapid::ext::astrobee::EkfState>;
  using StateSupplierPtr = std::unique_ptr<StateSupplier>;
 
  StateSupplierPtr state_supplier_;
 
  bool ekf_sent_, pub_ekf_;
 
  ros::Timer ekf_timer_, position_timer_;
};
 
}  // end namespace ff
 
#endif  // DDS_ROS_BRIDGE_ROS_ODOM_RAPID_POSITION_H_