rest_hand_eye_calibration_client.h

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#ifndef REST_HAND_EYE_CALIBRATION_CLIENT_H
#define REST_HAND_EYE_CALIBRATION_CLIENT_H

#include <rc_hand_eye_calibration_client/SetCalibrationPose.h>
#include <rc_hand_eye_calibration_client/Calibration.h>
#include <rc_hand_eye_calibration_client/hand_eye_calibrationConfig.h>

#include <std_srvs/Trigger.h>

#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>

#include <memory>


class CalibrationWrapper
{
  public:

    CalibrationWrapper(std::string host, ros::NodeHandle nh);

  private:

    bool calibSrv(rc_hand_eye_calibration_client::CalibrationRequest &request,
                  rc_hand_eye_calibration_client::CalibrationResponse &response);

    bool getCalibResultSrv(rc_hand_eye_calibration_client::CalibrationRequest &request,
                           rc_hand_eye_calibration_client::CalibrationResponse &response);

    bool saveSrv(std_srvs::TriggerRequest &request,
                 std_srvs::TriggerResponse &response);

    bool resetSrv(std_srvs::TriggerRequest &request,
                  std_srvs::TriggerResponse &response);

    bool removeSrv(std_srvs::TriggerRequest &request,
                  std_srvs::TriggerResponse &response);

    bool setSlotSrv(rc_hand_eye_calibration_client::SetCalibrationPoseRequest &request,
                    rc_hand_eye_calibration_client::SetCalibrationPoseResponse &response);

    void advertiseServices();

    void initConfiguration();

    void dynamicReconfigureCb(rc_hand_eye_calibration_client::hand_eye_calibrationConfig &config, uint32_t);

    //ROS Stuff
    ros::NodeHandle nh_; 
    ros::ServiceServer srv_set_slot_;
    ros::ServiceServer srv_save_;
    ros::ServiceServer srv_calibrate_;
    ros::ServiceServer srv_reset_;
    ros::ServiceServer srv_remove_;
    ros::ServiceServer srv_publish_transform_;
    ros::ServiceServer srv_get_result_;
    std::unique_ptr<dynamic_reconfigure::Server<rc_hand_eye_calibration_client::hand_eye_calibrationConfig> > server_;

    // REST stuff
    std::string host_, servicesUrl_, paramsUrl_;
    int timeoutCurl_; // ms

};
#endif