/*
 * Copyright (c) 2017 Simon Gene Gottlieb
 * 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 of the copyright holder 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 HOLDER 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.
 */

#include "robot_localization/ros_filter_types.h"

#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>

#include <memory>
#include <vector>

namespace RobotLocalization
{

class UkfNodelet : public nodelet::Nodelet
{
private:
  std::unique_ptr<RosUkf> ukf;

public:
  virtual void onInit()
  {
    NODELET_DEBUG("Initializing nodelet...");

    ros::NodeHandle nh      = getNodeHandle();
    ros::NodeHandle nh_priv = getPrivateNodeHandle();

    std::vector<double> args(3, 0);

    nh_priv.param("alpha", args[0], 0.001);
    nh_priv.param("kappa", args[1], 0.0);
    nh_priv.param("beta",  args[2], 2.0);

    ukf = std::make_unique<RosUkf>(nh, nh_priv, getName(), args);
    ukf->initialize();
  }
};

}  // namespace RobotLocalization

PLUGINLIB_EXPORT_CLASS(RobotLocalization::UkfNodelet, nodelet::Nodelet);
