foot_pose_transformer_node.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FEET_POSE_GENERATOR_NODE_H__
#define VIGIR_FEET_POSE_GENERATOR_NODE_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>

#include <vigir_foot_pose_transformer/foot_pose_transformer.h>



namespace vigir_footstep_planning
{
class FootPoseTransformerNode
{
public:
  FootPoseTransformerNode(ros::NodeHandle& nh);
  virtual ~FootPoseTransformerNode();

protected:
  // service calls
  bool transformFootPoseService(msgs::TransformFootPoseService::Request& req, msgs::TransformFootPoseService::Response& resp);
  bool transformFeetPosesService(msgs::TransformFeetPosesService::Request& req, msgs::TransformFeetPosesService::Response& resp);
  bool transformStepPlanService(msgs::TransformStepPlanService::Request& req, msgs::TransformStepPlanService::Response& resp);

  // service servers
  ros::ServiceServer transform_foot_pose_srv;
  ros::ServiceServer transform_feet_poses_srv;
  ros::ServiceServer transform_step_plan_srv;

  FootPoseTransformer foot_pose_transformer;
};
}

#endif