GazeboRosRfid.h

/* Copyright (C) 2012
 *     Jonas Mellin & Zakiruz Zaman
 * 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.
 */
/* Desc: Gazebo RFID Sensor
 * Author: Jonas Mellin & Zakiruz Zaman
 * Date: 6th December 2011
 */


#ifndef GAZEBO_ROS_RFID_HH
#define GAZEBO_ROS_RFID_HH

#include <map>
#include <string>
#include <gazebo/sensors/SensorTypes.hh>
#include <gazebo/sensors/Sensor.hh>
#include <gazebo/physics/HingeJoint.hh>
#include <gazebo/physics/Contact.hh>
#include <sdf/sdf.hh>
#include <sdf/Param.hh>
#include <gazebo/math/Pose.hh>
#include <gazebo/math/Quaternion.hh>
#include <tf/tf.h>


#include <gazebo/physics/World.hh>
#include <gazebo/physics/Entity.hh>

#include <gazebo/common/Exception.hh>

#include <gazebo/transport/Node.hh>
#include <gazebo/transport/Publisher.hh>

#include <gazebo/msgs/msgs.hh>

#include <gazebo/math/Vector3.hh>

/*changer en rfid tag ros*/
// #include <gazebo/sensors/RFIDTag.hh>
/*changer en rfid tag ros*/

#include <gazebo_plugins/gazebo_ros_rfid.h>
#include <ros/ros.h>

namespace gazebo
{
  class RFIDTag;
  class GazeboRosRfidTag : public SensorPlugin
  {
    /// Constructor
    public: GazeboRosRfid();

    /// Destructor
    public: ~GazeboRosRfid();

    /// \brief Load the plugin
    /// \param take in SDF root element
    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);

    /// Update the controller
    private: void OnScan();
    private: void GazeboRosRfid::EvaluateTags();
    private: bool GazeboRosRfid::CheckTagRange(const math::Pose &_pose);
    private: void GazeboRosRfid::AddTag(RFIDTag *_tag);

    /// \brief pointer to ros node
    private: ros::NodeHandle* rosnode_;
    private: ros::Publisher contact_pub_;

    private: sensors::RfidSensorPtr parentSensor;

    /// \brief set topic name of broadcast
    private: std::string scan_topic_name_;

    private: std::string frame_name_;

        /// \brief broadcast some string for now.
    private: msgs::Pose scan_pose_msg_;

    /// \brief for setting ROS name space
    private: std::string robot_namespace_;

    private: ros::CallbackQueue scan_queue_;
    private: void ScanQueueThread();
    private: boost::thread callback_queue_thread_;

    // Pointer to the update event connection
    private: event::ConnectionPtr update_connection_;
  };
}

#endif