TKStateToStampedPose.hpp

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/*
 * TKStateToStampedPose.hpp
 *
 *  Created on: Feb 15, 2012
 *      Author: mriedel
 */

#ifndef TKSTATETOSTAMPEDPOSE_HPP_
#define TKSTATETOSTAMPEDPOSE_HPP_

#include <telekyb_base/TeleKyb.hpp>
#include <telekyb_base/Options.hpp>

#include <geometry_msgs/PoseStamped.h>
#include <telekyb_msgs/TKState.h>

using namespace telekyb;

class TKStateToStampedPoseOptions : public OptionContainer
{
public:
        Option<std::string>* tInputState;
        Option<std::string>* tOutputPose;
        TKStateToStampedPoseOptions();
};

class TKStateToStampedPose {
private:
        TKStateToStampedPoseOptions options;

        ros::NodeHandle n;
        ros::Subscriber stateSub;
        ros::Publisher posePub;

        void tkStateCB(const telekyb_msgs::TKState::ConstPtr& msg);

public:
        TKStateToStampedPose();
        virtual ~TKStateToStampedPose();
};

#endif /* TKSTATETOSTAMPEDPOSE_HPP_ */