walk_analyzer_node.h

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

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// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

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//=================================================================================================

#ifndef VIGIR_WALK_ANALYZER_NODE_H__
#define VIGIR_WALK_ANALYZER_NODE_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>

#include <vigir_walk_monitor/walk_analyzer.h>



namespace vigir_footstep_planning
{
class WalkAnalyzerNode
{
public:
  WalkAnalyzerNode(ros::NodeHandle& nh, WalkAnalyzer::Ptr walk_anaylzer);
  WalkAnalyzerNode(ros::NodeHandle& nh);
  virtual ~WalkAnalyzerNode();

protected:
  // subscribers
  ros::Subscriber execute_step_plan_goal_sub;
  ros::Subscriber execute_step_plan_result_sub;
  ros::Subscriber step_feedback_sub;

  WalkAnalyzer::Ptr walk_analyzer;
};
}

#endif