AugmentedAcoustics.hpp

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*  Created on: 13.06.2013.
*  Author: Dula Nad
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#ifndef AUGMENTEDACOUSTICS_HPP_
#define AUGMENTEDACOUSTICS_HPP_
#include <auv_msgs/NavSts.h>
#include <sensor_msgs/Joy.h>
#include <ros/ros.h>

namespace labust
{
        namespace control
        {
                class AugmentedAcoustics
                {
                public:
                        AugmentedAcoustics();
                        void onInit();
                        void step();
                        void start();

                private:
                        void handleTarget(const auv_msgs::NavSts::ConstPtr& target);
                        void handleEstimates(const auv_msgs::NavSts::ConstPtr& estimate);
                        void handleManual(const sensor_msgs::Joy::ConstPtr& joy);

                        ros::Publisher tauOut;
                        ros::Subscriber targetRef, stateHat, manualIn;
                };
        }
}

/* AUGMENTEDACOUSTICS_HPP_ */
#endif