diver_sim.h

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#ifndef LABUST_SIM_DIVERSIM_H
#define LABUST_SIM_DIVERSIM_H
#include <labust/simulation/kinematic_model.h>

#include <sensor_msgs/JointState.h>
#include <auv_msgs/BodyVelocityReq.h>
#include <ros/ros.h>

#include <boost/thread.hpp>

#include <string>
#include <vector>

namespace labust
{
        namespace simulation
        {
                class DiverSim
                {
                public:
                        DiverSim();

                        void onInit();

                        void start();

                private:
                        void step();
                        void stepJoints(double w, double hpan=0, double htilt=0);
                        void onNu(const auv_msgs::BodyVelocityReq::ConstPtr& nu)
                        {
                                boost::mutex::scoped_lock l(nu_mux);
                                labust::tools::pointToVector(nu->twist.linear, this->nu);
                                labust::tools::pointToVector(nu->twist.angular, this->nu,3);
                        }

                        ros::Publisher navsts;
                        ros::Publisher joints;
                        ros::Subscriber nusub;
                        labust::simulation::vector nu;
                        boost::mutex nu_mux;

                        std::vector<std::string> jnames;
                        std::vector<double> jdefaults;
                        sensor_msgs::JointState jstate;
                        bool move_head;

                        double Ts;
                        labust::simulation::KinematicModel model;

                        boost::thread runner;
                        bool runSim;
                };
        }
}

/* LABUST_SIM_DIVERSIM_H */
#endif