FormationControl.hpp

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/*
 * FormationControl.hpp
 *
 *  Created on: Nov 15, 2011
 *      Author: mriedel
 */

#ifndef FORMATIONCONTROL_HPP_
#define FORMATIONCONTROL_HPP_

#include <telekyb_base/Options.hpp>

#include <sensor_msgs/Joy.h>

#include "FormationControlElement.hpp"


using namespace telekyb;

class FormationControlOptions : public OptionContainer
{
public:
        Option< std::vector<int> >* tRobotIDs;
        Option<std::string>* tJoystickTopic;
        Option<std::string>* tVelocityInputTopic;
        Option<bool>* tUseMKInterface;
        FormationControlOptions();
};

class FormationControl {
protected:
        FormationControlOptions options;
        // Elements
        std::vector< FormationControlElement* > formationElements;

        // ROS
        ros::NodeHandle mainNodeHandle;
        ros::Subscriber joySub;

public:
        FormationControl();
        virtual ~FormationControl();

        // setup Behaviors
        void setupFormationControl();

        void joystickCB(const sensor_msgs::Joy::ConstPtr& msg);


};

#endif /* FORMATIONCONTROL_HPP_ */