simulator.h
5b80dea8521esimple_kite

simulator.h
View Options

			#ifndef SIMULATOR_H
			#define SIMULATOR_H

			#include "kite.h"
			#include "integrator.h"
			#include "ros/ros.h"
			#include "test_package/aircraft_controls.h"
			#include "sensor_msgs/MultiDOFJointState.h"
			#include "geometry_msgs/PoseStamped.h"


			class Simulator
			{
			public:
			Simulator(const ODESolver &object, const ros::NodeHandle &nh);
			virtual ~Simulator(){}
			void simulate();

			casadi::DM getState(){return state;}
			casadi::DM getPose(){return state(casadi::Slice(6,13));}

			void publish_state();
			void publish_pose();

			private:
			std::shared_ptr<ODESolver> m_object;
			std::shared_ptr<ros::NodeHandle> m_nh;

			ros::Subscriber control_sub;
			ros::Publisher state_pub;
			ros::Publisher pose_pub;

			casadi::DM controls;
			casadi::DM state;

			void controlCallback(const test_package::aircraft_controls::ConstPtr &msg);
			double sim_rate;
			sensor_msgs::MultiDOFJointState msg_state;
			};

			#endif // SIMULATOR_H