ObstacleProviderController.hpp

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/*
 * ObstacleProviderController.hpp
 *
 *  Created on: Dec 14, 2011
 *      Author: mriedel
 */

#ifndef OBSTACLEPROVIDERCONTROLLER_HPP_
#define OBSTACLEPROVIDERCONTROLLER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <obs_detection/ObstacleProviderControllerOptions.hpp>
#include <obs_detection/ObstacleProviderContainer.hpp>

#include <ros/ros.h>

namespace TELEKYB_NAMESPACE {

class ObstacleProviderController {
protected:
        ObstacleProviderControllerOptions options;
        // Container
        ObstacleProviderContainer obsContainer;

        // ROS
        // NodeHandle
        ros::NodeHandle nodeHandle;
        // State Subscription
        ros::Subscriber tStateSub;
        // PointArray Publisher
        ros::Publisher tObsPointsPub;

        // Callback
        TKState lastState;
        boost::mutex lastStateMutex;
        void tkStateCB(const telekyb_msgs::TKState::ConstPtr& tkStateMsg);
        bool recvFirstTKState;

        // Helper Functions
        void loadObstacleProviders();
        void obstacleProviderStep();

        std::vector< Position3D > allObstaclePositions;

public:
        ObstacleProviderController();
        virtual ~ObstacleProviderController();

        void spin();
};

} /* namespace telekyb */
#endif /* OBSTACLEPROVIDERCONTROLLER_HPP_ */