stateCreatorRobotLocationInRoom.h

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#ifndef STATE_CREATOR_ROBOT_LOCATION_IN_ROOM_H
#define STATE_CREATOR_ROBOT_LOCATION_IN_ROOM_H

#include "continual_planning_executive/stateCreator.h"
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <ros/ros.h>

namespace tidyup_actions 
{


    class StateCreatorRobotLocationInRoom : public continual_planning_executive::StateCreator
    {
        public:
            StateCreatorRobotLocationInRoom();
            ~StateCreatorRobotLocationInRoom();


            virtual void initialize(const std::deque<std::string> & arguments);

            virtual bool fillState(SymbolicState & state);

        protected:
            tf::TransformListener _tf;

            std::string _robotPoseObject;   
            std::string _locationType;      
    };

};

#endif