TrajectoryController.hpp

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/*
 * TrajectoryController.hpp
 *
 *  Created on: Nov 8, 2011
 *      Author: mriedel
 */

#ifndef TRAJECTORYCONTROLLER_HPP_
#define TRAJECTORYCONTROLLER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <tk_trajctrl/TrajectoryControllerOptions.hpp>

// TrajInput
#include <telekyb_base/Messages.hpp>

// Telekyb Msgs
#include <telekyb_msgs/TKState.h>

// Ros
#include <ros/ros.h>

// Boost
#include <boost/thread/mutex.hpp>

// Class Loading
#include <pluginlib/class_loader.h>

// Interface Definition
#include <tk_trajctrl/TrajectoryTracker.hpp>

namespace TELEKYB_NAMESPACE {

/*
 * OptionListener<bool> -> if MassEstimation is completely disabled!
 */

class TrajectoryController {
private:
        // Singleton Stuff
        static TrajectoryController* instance;

        TrajectoryController();
        virtual ~TrajectoryController();

        TrajectoryController(const TrajectoryController &);
        TrajectoryController& operator=(const TrajectoryController &);

protected:
        TrajectoryControllerOptions options;

        // ClassLoader
        pluginlib::ClassLoader<TrajectoryTracker> ttLoader;

        // active State
        TrajectoryTracker* activeTrajectoryTracker;

        // Nodehandle
        ros::NodeHandle nodeHandle;
        // Subscribe to TKState
        ros::Subscriber tTcStateSub;

        // initialize. This does further setup AFTER the object has been created.
        // This is needed, since Objects that reference the Behavior Controller can only be created after it returns from the constuctor
        // (Singleton Issue).
        //** This is like a Constructor. It's called by the Singleton creator DIRECTLY AFTER the actual constructor. **/
        void initialize();



public:
        void trajInputStep(const TKTrajectory& nextInput);
        //void toggleMassEstimation(bool toggleME);

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


        // Singleton Stuff
        static TrajectoryController& Instance();
        static TrajectoryController* InstancePtr();
        static bool HasInstance();
        static void ShutDownInstance();
};

}

#endif /* TRAJECTORYCONTOLLER_HPP_ */