multi_strategy.h

Go to the documentation of this file.

#ifndef UCL_DRONE_MULTI_STRATEGY_H
#define UCL_DRONE_MULTI_STRATEGY_H

// ROS Header files
#include <ros/package.h>
#include <ros/ros.h>

// #define USE_PROFILING  // Uncomment this line to display timing print in the standard output
#include <ucl_drone/profiling.h>

// messages
#include <ucl_drone/DroneRole.h>
#include <ucl_drone/DroneRoles.h>
#include <ucl_drone/Pose3D.h>

// ucl_drone
#include <ucl_drone/drone_role.h>
#include <ucl_drone/ucl_drone.h>

class MultiStrategy
{
private:
  ros::NodeHandle nh_;

  // Subscriber
  ros::Subscriber ready_sub;
  std::string ready_channel;

  // Publishers
  ros::Publisher drones_roles_pub;
  std::string drones_roles_channel;

  void readyCb(const ucl_drone::DroneRole::ConstPtr readyPtr);

  std::vector< DroneRole > role_list;

public:
  MultiStrategy();

  ~MultiStrategy();

  void init();

  void PublishDroneRole();
};

#endif /* UCL_DRONE_MULTI_STRATEGY_H */