Head.h

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/*
 * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */


#ifndef __HEAD_H__
#define __HEAD_H__

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>
#include <pr2_controllers_msgs/PointHeadAction.h>

#include "LinearMath/btVector3.h"



// Our Action interface type, provided as a typedef for convenience
typedef actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> PointHeadClient;

class RobotHead
{
private:
  PointHeadClient* point_head_client_;

  RobotHead();

  ~RobotHead();

  static RobotHead *instance_;

  void spinner(std::string frame_id, double x, double y, double z, double rate);

  boost::thread *t1;

public:
  void lookAt(std::string frame_id, double x, double y, double z,bool waitfor = false);

  void lookAtThreaded(std::string frame_id, double x, double y, double z);

  void lookAtThreaded(std::string frame_id,btVector3 target);

  void stopThread();

  static RobotHead* getInstance()
  {
      if (!instance_)
        instance_ = new RobotHead();
     return instance_;
  }

  volatile bool stop;

};


#endif