SSXStateEstimator.hpp

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/*
 * SSXStateEstimator.h
 *
 *  Created on: Nov 3, 2011
 *      Author: mriedel
 */

#ifndef SSXSTATEESTIMATOR_HPP_
#define SSXSTATEESTIMATOR_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_base/Options.hpp>

#include <tk_state/StateEstimator.hpp>

// plugin stuff
#include <pluginlib/class_list_macros.h>

// ros
#include <ros/subscriber.h>


using namespace TELEKYB_NAMESPACE;

namespace telekyb_state {

class SSXStateEstimatorOptions : public OptionContainer {
public:
        Option<std::string>* tSSXSeTopicName;
        Option<Eigen::Vector3d>* tSSXPositionOffset;

        SSXStateEstimatorOptions();
};

class SSXStateEstimator : public StateEstimator {
protected:
        // Options
        SSXStateEstimatorOptions options;

        // ROS
        ros::NodeHandle nodeHandle;
        ros::Subscriber ssxSubscriber;


public:
        virtual void initialize();
        virtual void willBecomeActive();
        virtual void willBecomeInActive();
        virtual void destroy();

        virtual std::string getName() const;

        void ssxCallback(const telekyb_msgs::TKState::ConstPtr& msg);


};

} //namespace

#endif /* SSXSTATEESTIMATOR_HPP_ */