manual_tf_alignment.h

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/*
 * Author : Andy McEvoy (mcevoy.andy@gmail.com), Dave Coleman
 * Desc   : Allows manual control of a TF through the keyboard
 */

#ifndef TF_KEYBOARD_CAL__MANUAL_TF_ALIGNMENT_
#define TF_KEYBOARD_CAL__MANUAL_TF_ALIGNMENT_

#include <ros/ros.h>

#include <tf/transform_broadcaster.h>

#include <keyboard/Key.h>

#include <Eigen/Core>

#include <boost/filesystem.hpp>

namespace tf_keyboard_cal
{

class ManualTFAlignment
{
public:

  /*
   * \brief
   */
  ManualTFAlignment();

  /*
   * \brief
   */
  void keyboardCallback(const keyboard::Key::ConstPtr& msg);

  /*
   * \brief
   */
  void printMenu();

  /*
   * \brief
   */
  void publishTF();

  /*
   * \brief
   */
  void setPose(Eigen::Vector3d translation, Eigen::Vector3d rotation);

  /*
   * \brief
   */
  void updateTF(int mode, double delta);

  /*
   * \brief
   */
  void writeTFToFile();

  // Name of class
  std::string name_;

  Eigen::Vector3d translation_;
  Eigen::Vector3d rotation_;
  std::string save_path_;
  int mode_;
  double delta_;
  std::string from_;
  std::string to_;
  std::string file_package_;
  std::string file_name_;
  std::string topic_name_;
  ros::Subscriber keyboard_sub_;
  ros::NodeHandle nh_;
};

} // end namespace

#endif