UWBManagerService.h 1.6 KB
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//    ROS node that provides the anchor positions from the yaml file
//    Copyright (C) 2017  Michael Rogenmoser, Tiago Salzmann, Yvan Bosshard
//
//    This program is free software: you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation, either version 3 of the License, or
//    (at your option) any later version.
//
//    This program is distributed in the hope that it will be useful,
//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
//
//    You should have received a copy of the GNU General Public License
//    along with this program.  If not, see <http://www.gnu.org/licenses/>.

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#ifndef UWBMANAGERSERVICE_H
#define UWBMANAGERSERVICE_H

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#include "ros/ros.h"

#include "d_fall_pps/UWBAnchor.h"
#include "d_fall_pps/UWBAnchorArray.h"
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#include "d_fall_pps/Anchors.h"
#include "std_msgs/Int32.h"

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namespace d_fall_pps
{
    // Callback to return anchor Positions
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    bool getAnchorPositions(Anchors::Request& request, Anchors::Response& response);
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    // Reads anchor positions from yaml file
    void readYaml();

    // gets float vector from yaml file
    void loadParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
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    // Callback to update anchor Positions
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    void updateCallback(const std_msgs::Int32 &message);
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    // Callback to recalibrate anchor Positions
    void calibrateAnchors();
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}

#endif // UWBMANAGERSERVICE_H included