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78 lines
2.5 KiB
78 lines
2.5 KiB
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/****************************************************************************
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*
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* Copyright (c) 2020 Auterion AG. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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*
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* @author Jaeyoung Lim <jaeyoung@auterion.com>
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*
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*/
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#ifndef JSBSIM_BRIDGE_ROS_H
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#define JSBSIM_BRIDGE_ROS_H
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#include "jsbsim_bridge.h"
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#include <ros/ros.h>
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#include <stdio.h>
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#include <cstdlib>
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#include <sstream>
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#include <string>
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#include <Eigen/Dense>
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using namespace std;
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using namespace Eigen;
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class JSBSimBridgeRos {
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public:
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JSBSimBridgeRos(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
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virtual ~JSBSimBridgeRos();
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private:
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void simloopCallback(const ros::TimerEvent& event);
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void statusloopCallback(const ros::TimerEvent& event);
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ros::NodeHandle nh_;
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ros::NodeHandle nh_private_;
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ros::Timer simloop_timer_, statusloop_timer_;
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JSBSim::FGFDMExec* fdmexec_;
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ConfigurationParser config_;
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std::unique_ptr<JSBSimBridge> jsbsim_bridge_;
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std::string path;
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std::string script_path;
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};
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#endif
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