LocalizationServer.h 1.07 KB
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/*
 *
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 *	Localization Server
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 *
 *	This node is subscribed to the ViconDataPublisher as well
 *	as to the UWBDataPublisher. It is used to compare the
 *	data and relay the desired localization source to the
 *	PPSClient.
 *
 */

#ifndef LOCALIZATIONSERVER_H
#define LOCALIZATIONSERVER_H

#include "std_msgs/Int32.h"

#include "ros/ros.h"

#include "d_fall_pps/ViconData.h"
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#include "d_fall_pps/CrazyflieData.h"
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namespace d_fall_pps
{
	// Loads the parameters of the node handle
	bool loadParameters(ros::NodeHandle &nodeHandle);

	// Loads the current context of the client
	void loadCrazyflieContext();

	// Callback function to handle incoming Vicon data
	void viconDataCallback(const ViconData &viconData);

	// Callback function to handle the change in database information
	void dbChangedCallback(const std_msgs::Int32 &msg);
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	// Callback function to handle incoming UWB data
	void UWBDataCallback(const CrazyflieData &data);
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	// Callback function called when teachers changes UWB Status
	void uwbChangedCallback(const std_msgs::Int32 &msg);
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}

#endif // LOCALIZATIONSERVER_H included