allocation_node.h

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#ifndef ALLOCATION_ALLOCATION_NODE_H
#define ALLOCATION_ALLOCATION_NODE_H
#include <labust/allocation/allocation_interface.h>
#include <pluginlib/class_loader.h>

#include <auv_msgs/BodyForceReq.h>
#include <ros/ros.h>


namespace labust
{
        namespace allocation
        {
                class AllocationNode
                {
                public:
                        AllocationNode();
                        ~AllocationNode();

                        //Default initialization method.
                        void onInit();

                private:
                        ros::Subscriber tau_sub;
                        ros::Publisher tauach_pub;
                        ros::Publisher pwm_pub;

                        void onTau(const auv_msgs::BodyForceReq::ConstPtr tau);

                        ros::Timer safety;
                        double timeout;

                        pluginlib::ClassLoader<AllocationInterface> alloc_loader;
                        AllocationInterface::Ptr alloc;
                };
        }
}
/* ALLOCATION_ALLOCATION_NODE_H */
#endif