Experiment_old.hpp

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/*
 * Experiment.hpp
 *
 *  Created on: Oct 26, 2011
 *      Author: mriedel
 */

#ifndef EXPERIMENT_HPP_
#define EXPERIMENT_HPP_

#include "ExperimentDefines.hpp"
#include "ExperimentOptions.hpp"

#include <sensor_msgs/Joy.h>
#include <geometry_msgs/TransformStamped.h>

#include "udpraw.h"

#include <telekyb_base/Spaces.hpp>

namespace telekyb {

class Experiment {
protected:
        State currState;
        ExperimentOptions* options;

        ros::NodeHandle nodeHandle;
        ros::Subscriber joySub;
        ros::Subscriber inputTransformSub;
        ros::Publisher inputTransformPub;

        // UDP Socket
        Udpraw udp;

        Position3D neutralPosition;
        double maxInputOffset;

        void joystickCB(const sensor_msgs::Joy::ConstPtr& msg);
        void inputCB(const geometry_msgs::TransformStamped::Ptr& msg);

        bool setNextNeutralPosition;

        // state functions
        void init();
        void ready();
        void liftoff();
        void user();
        void touchdown();
        void flyto();

        void error();

public:
        Experiment();
        virtual ~Experiment();

        // read
        void readSpin();



};

}

#endif /* EXPERIMENT_HPP_ */