grid_initialisation.hpp

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#pragma once

#include <direct_search_handler.hpp>


namespace directSearchWS {

class GridInitialisation : public DirectSearchHandler {

private:
    std::string gridFilePath;

    PtuTuplePtrVecPtr ptuTuplePtrVecPtr;

    double clearVision;


    double getYaw(const geometry_msgs::Point &pointA, const geometry_msgs::Point &pointB) const;
    void initPTUPoses();

public:
    GridInitialisation(std::string gridFilePath);
    virtual ~GridInitialisation();

    bool initHandler();
    bool resetHandler();

};

}