io.h

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#ifndef EMC_SYSTEM_IO_H_
#define EMC_SYSTEM_IO_H_
 
#include <array>
#include <vector>
#include <string>
 
#include "emc/data.h"
#include "emc/odom.h"
#include "emc/pose.h"
#include "emc/bumper.h"
 
namespace emc
{
 
class Communication;
 
class IO
{
 
public:
 
    IO(Communication* comm = nullptr);
    IO(std::string robot_name);
 
    ~IO();
 
    bool readLaserData(LaserData& scan);
 
    bool readPoseData(PoseData& pose);
 
    bool readOdometryData(OdometryData& odom);
 
    bool resetOdometry();
 
    bool readFrontBumperData(BumperData& bumper);
 
    bool readBackBumperData(BumperData& bumper);
 
    void sendBaseReference(double vx, double vy, double va);
 
    void sendOpendoorRequest();
 
    bool ok();
 
    void speak(const std::string& text);
    
    void play(const std::string& file);
 
    bool sendPath(std::vector<std::vector<double>> path, std::array<double, 3> color = {0.0, 0.0, 0.0}, double width = 0.02, int id = 0);
 
 
    bool sendPoseEstimate(double x, double y, double yaw);
 
    // publishers used to visualize information in the localization exercises (particle filter):
    void localization_viz_send_laser_scan(double angle_min, double angle_max, double angle_inc, int subsample, std::vector<float> prediction);
    void localization_viz_send_particles(int N, std::vector<std::vector<double>> particle_poses, double mapOrientation);
    void localization_viz_send_pose(std::vector<double> pose, double mapOrientation);
 
private:
 
    bool sendPoseEstimate(double px, double py, double pz, double rx, double ry, double rz, double rw); //use quaternion
 
    bool sendPoseEstimate(double px, double py, double pz, double rr, double rp, double ry); //use roll pitch yaw
 
    // odometry memory
    OdometryData prev_odom_;
    bool odom_set_ = false; // wether odom has been set at least once.
 
    Communication* comm_;
 
};
 
} // end namespace emc
 
#endif