ExternalObsPoint.hpp

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/*
 * ExternalObsPoint.hpp
 *
 *  Created on: Dec 16, 2011
 *      Author: mriedel
 */

#ifndef EXTERNALOBSPOINT_HPP_
#define EXTERNALOBSPOINT_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <obs_detection/ObstacleProvider.hpp>
#include <telekyb_base/Options.hpp>
#include <geometry_msgs/PoseStamped.h>
#include <boost/thread/mutex.hpp>
#include <telekyb_base/ROS/GenericSubscriber.hpp>

using namespace TELEKYB_NAMESPACE;

namespace telekyb_obs {

class ExternalObsPointOptions : public OptionContainer {
public:
        Option< std::vector<std::string> >* tObsTransformTopicNames;
        Option< std::vector<double> >* tObsRadius;
        Option<Eigen::Matrix3d>* tObsTranformConvMatrix;
        ExternalObsPointOptions();
};

class ExternalObsPoint : public ObstacleProvider {
protected:
        ExternalObsPointOptions options;
//      ros::Subscriber obsTranformSub;
        std::vector<std::string> transformTopicNames;
        std::vector<double> obstacleRadii;
        std::vector< GenericSubscriber<geometry_msgs::PoseStamped>* > subscribers;

//      Position3D obsPoint;
//      mutable boost::mutex obsPointMutex;

public:
        ExternalObsPoint();
        virtual ~ExternalObsPoint();

        // called directly after Creation
        virtual void initialize();

        // called right before destruction
        virtual void destroy();

        virtual void getObstaclePoints(const TKState& lastState, std::vector<Position3D>& obstaclePoints) const;

        // TransformCB
//      void obsPointCB(const geometry_msgs::TransformStamped::ConstPtr& msg);
};

} /* namespace telekyb_obs */
#endif /* EXTERNALOBSPOINT_HPP_ */