jsbsim_bridge_ros.h
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/****************************************************************************
*
* Copyright (c) 2020 Auterion AG. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name PX4 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 OWNER 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.
*
****************************************************************************/
/**
*
* @author Jaeyoung Lim <jaeyoung@auterion.com>
*
*/
#ifndef JSBSIM_BRIDGE_ROS_H
#define JSBSIM_BRIDGE_ROS_H
#include "jsbsim_bridge.h"
#include <ros/ros.h>
#include <stdio.h>
#include <cstdlib>
#include <sstream>
#include <string>
#include <Eigen/Dense>
using namespace std;
using namespace Eigen;
class JSBSimBridgeRos {
public:
JSBSimBridgeRos(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
virtual ~JSBSimBridgeRos();
private:
void simloopCallback(const ros::TimerEvent& event);
void statusloopCallback(const ros::TimerEvent& event);
ros::NodeHandle nh_;
ros::NodeHandle nh_private_;
ros::Timer simloop_timer_, statusloop_timer_;
JSBSim::FGFDMExec* fdmexec_;
ConfigurationParser config_;
std::unique_ptr<JSBSimBridge> jsbsim_bridge_;
std::string path;
std::string script_path;
};
#endif