AugmentedAcoustics.cpp

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 *  Author: Dula Nad
 *  Created: 13.06.2013.
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#include <labust/control/AugmentedAcoustics.hpp>

#include <auv_msgs/BodyForceReq.h>

using labust::control::AugmentedAcoustics;

AugmentedAcoustics::AugmentedAcoustics()
{
        this->onInit();
}

void AugmentedAcoustics::onInit()
{
        ros::NodeHandle nh, ph("~");
        //Initialize publishers
        tauOut = nh.advertise<auv_msgs::BodyForceReq>("tauOut", 1);

        //Initialze subscribers
        targetRef = nh.subscribe<auv_msgs::NavSts>("target_point", 1,
                        &AugmentedAcoustics::handleTarget,this);
        stateHat = nh.subscribe<auv_msgs::NavSts>("stateHat", 1,
                        &AugmentedAcoustics::handleEstimates,this);
        manualIn = nh.subscribe<sensor_msgs::Joy>("joy",1,
                        &AugmentedAcoustics::handleManual,this,
                        ros::TransportHints().unreliable());
}

void AugmentedAcoustics::handleTarget(const auv_msgs::NavSts::ConstPtr& target)
{

}

void AugmentedAcoustics::handleManual(const sensor_msgs::Joy::ConstPtr& joy)
{

}

void AugmentedAcoustics::handleEstimates(const auv_msgs::NavSts::ConstPtr& estimate)
{

};

void AugmentedAcoustics::step()
{
        auv_msgs::BodyForceReq tau;
        tauOut.publish(tau);
}

void AugmentedAcoustics::start()
{
        ros::spin();
}