tricycle_drive.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name  tricycle.h
 * @brief   Tricycle plugin
 * @author  Mike Brousseau
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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.
 *   * Neither the name of the Avidbots Corp. 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,
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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#include <Box2D/Box2D.h>
#include <flatland_plugins/update_timer.h>
#include <flatland_server/model_plugin.h>
#include <flatland_server/timekeeper.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>

#ifndef FLATLAND_PLUGINS_TRICYCLE_DRIVE_H
#define FLATLAND_PLUGINS_TRICYCLE_DRIVE_H

using namespace flatland_server;
using namespace std;

namespace flatland_plugins {

class TricycleDrive : public flatland_server::ModelPlugin {
 public:
  Body* body_;
  Joint* front_wj_;       
  Joint* rear_left_wj_;   
  Joint* rear_right_wj_;  
  double axel_track_;     
  double wheelbase_;      
  b2Vec2 rear_center_;    
  bool invert_steering_angle_;   
  double max_angular_velocity_;  
  double target_wheel_angle_;    
  double theta_f_;  

  geometry_msgs::Twist twist_msg_;
  nav_msgs::Odometry odom_msg_;
  nav_msgs::Odometry ground_truth_msg_;
  ros::Subscriber twist_sub_;
  ros::Publisher odom_pub_;
  ros::Publisher ground_truth_pub_;

  UpdateTimer update_timer_;

  default_random_engine rng_;
  array<normal_distribution<double>, 6> noise_gen_;

  void OnInitialize(const YAML::Node& config) override;

  void ComputeJoints();

  void BeforePhysicsStep(const Timekeeper& timekeeper) override;

  void TwistCallback(const geometry_msgs::Twist& msg);
};
}

#endif