Task.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef GMAPPING_TASK_TASK_HPP
#define GMAPPING_TASK_TASK_HPP

#include "gmapping/TaskBase.hpp"
#include <gmapping/gmappingTypes.hpp>
#include <base/samples/RigidBodyState.hpp>
#include <boost/thread.hpp>


#include <gmapping/gridfastslam/gridslamprocessor.h>
#include <gmapping/sensor/sensor_base/sensor.h>

namespace gmapping {

    class Task : public TaskBase
    {

    private:

        base::samples::RigidBodyState base_to_laser_;
        base::samples::RigidBodyState map_to_odom_;
        int laser_count_;
        boost::thread* transform_thread_;

        GMapping::GridSlamProcessor* gsp_;
        GMapping::RangeSensor* gsp_laser_;
        GMapping::OdometrySensor* gsp_odom_;

        double gsp_laser_angle_increment_;
        bool got_first_scan_;
        bool got_map_;
        Config config_;

        boost::mutex map_to_odom_mutex_;
        boost::mutex map_mutex_;
        OccupancyGrid map_;

        unsigned int gsp_laser_beam_count_;

        double computePoseEntropy();
        void laserCallBack(base::samples::LaserScan& scan);
        void tfCallBack(base::samples::RigidBodyState& tf);
        
        void updateMap(const Laser& scan);
        bool getOdomPose(GMapping::OrientedPoint& gmap_pose, const base::Time& t);
        bool initMapper(const Laser& scan, GMapping::OrientedPoint& initialPose);
        bool addScan(const Laser& scan, GMapping::OrientedPoint& gmap_pose);

        bool createImage(OccupancyGrid map);

    friend class TaskBase;
    protected:

        /* 
         */
        virtual ::gmapping::OccupancyGrid getDynamicMap();
        virtual void scanTransformerCallback(const base::Time &ts, const ::base::samples::LaserScan &scan_sample);

    public:
        Task(std::string const& name = "gmapping::Task");

        Task(std::string const& name, RTT::ExecutionEngine* engine);

    ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();


        void publishLoop(double transform_publish_period);

        void publishTransform();
    };
}

#endif