align_base.h

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/* Author: Wim Meeusen */

#ifndef ALIGN_BASE_H
#define ALIGN_BASE_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <kdl/frames.hpp>
#include <actionlib/server/simple_action_server.h>
#include <actionlib/client/simple_action_client.h>
#include <geometry_msgs/Point.h>
#include <pr2_plugs_msgs/AlignBaseAction.h>
#include <pr2_plugs_msgs/DetectWallNormAction.h>
#include <move_base_msgs/MoveBaseAction.h>


namespace pr2_plugs_actions{


class AlignBaseAction
{
public:
  AlignBaseAction();
  ~AlignBaseAction();

  void execute(const pr2_plugs_msgs::AlignBaseGoalConstPtr& goal);

private:
  geometry_msgs::Point toPoint(const tf::Vector3& pnt);
  geometry_msgs::Vector3 toVector(const tf::Vector3& pnt);
  tf::Vector3 fromVector(const geometry_msgs::Vector3& pnt);
  tf::Vector3 fromPoint(const geometry_msgs::Point& pnt);
  double getVectorAngle(const tf::Vector3& v1, const tf::Vector3& v2);

  actionlib::SimpleActionClient<pr2_plugs_msgs::DetectWallNormAction> wall_detector_;
  actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_omnidirectional_;
  tf::TransformListener tf_;

  actionlib::SimpleActionServer<pr2_plugs_msgs::AlignBaseAction> action_server_;
};

}

#endif