moved all the header file into include

2026-10-07 02:07:45 +08:00 · 2016-07-27 16:44:48 -07:00
parent e14c1d9e68
commit 500fe3b8ae
16 changed files with 13 additions and 14 deletions
@@ -0,0 +1,120 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+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 Universite de Sherbrooke 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 ODOMETRYROS_H_
+#define ODOMETRYROS_H_
+
+#include <ros/ros.h>
+#include <nodelet/nodelet.h>
+
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+
+#include <std_srvs/Empty.h>
+#include <std_msgs/Header.h>
+
+#include <rtabmap_ros/ResetPose.h>
+#include <rtabmap/core/SensorData.h>
+#include <rtabmap/core/Parameters.h>
+
+namespace rtabmap {
+class Odometry;
+}
+
+namespace rtabmap_ros {
+
+class OdometryROS : public nodelet::Nodelet
+{
+
+public:
+	OdometryROS(bool stereo);
+	virtual ~OdometryROS();
+
+	void processData(const rtabmap::SensorData & data, const ros::Time & stamp);
+
+	bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
+	bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+
+	const std::string & frameId() const {return frameId_;}
+	const std::string & odomFrameId() const {return odomFrameId_;}
+	const rtabmap::ParametersMap & parameters() const {return parameters_;}
+	const tf::TransformListener & tfListener() const {return tfListener_;}
+	bool isPaused() const {return paused_;}
+	bool isOdometryF2M() const;
+	rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
+
+protected:
+	virtual void flushCallbacks() = 0;
+
+private:
+	virtual void onInit();
+	virtual void onOdomInit() = 0;
+
+private:
+	rtabmap::Odometry * odometry_;
+
+	// parameters
+	std::string frameId_;
+	std::string odomFrameId_;
+	std::string groundTruthFrameId_;
+	bool publishTf_;
+	bool waitForTransform_;
+	double waitForTransformDuration_;
+	bool publishNullWhenLost_;
+	bool guessFromTf_;
+	rtabmap::ParametersMap parameters_;
+
+	ros::Publisher odomPub_;
+	ros::Publisher odomInfoPub_;
+	ros::Publisher odomLocalMap_;
+	ros::Publisher odomLastFrame_;
+	ros::ServiceServer resetSrv_;
+	ros::ServiceServer resetToPoseSrv_;
+	ros::ServiceServer pauseSrv_;
+	ros::ServiceServer resumeSrv_;
+	ros::ServiceServer setLogDebugSrv_;
+	ros::ServiceServer setLogInfoSrv_;
+	ros::ServiceServer setLogWarnSrv_;
+	ros::ServiceServer setLogErrorSrv_;
+	tf2_ros::TransformBroadcaster tfBroadcaster_;
+	tf::TransformListener tfListener_;
+
+	bool paused_;
+	int resetCountdown_;
+	int resetCurrentCount_;
+	bool stereo_;
+};
+
+}
+
+#endif