towr_user_interface.h

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#ifndef TOWR_ROS_USER_INTERFACE_H_
#define TOWR_ROS_USER_INTERFACE_H_

#include <ros/ros.h>

#include <xpp_states/state.h>

namespace towr {

class TowrUserInterface {
public:
  TowrUserInterface ();
  virtual ~TowrUserInterface () = default;

  void CallbackKey(int c);

private:
  ::ros::Publisher  user_command_pub_; 


  void PublishCommand();

  xpp::State3dEuler goal_geom_;
  int terrain_;
  int gait_combo_;
  int robot_;
  bool visualize_trajectory_;
  bool play_initialization_;
  double replay_speed_;
  bool plot_trajectory_;
  bool optimize_;
  bool publish_optimized_trajectory_;
  double total_duration_;
  bool optimize_phase_durations_;

  int AdvanceCircularBuffer(int& curr, int max) const;

  void PrintVector(const Eigen::Vector3d& v) const;
  void PrintVector2D(const Eigen::Vector2d& v) const;
  void PrintScreen() const;
};

} /* namespace towr */

#endif /* TOWR_ROS_USER_INTERFACE_H_ */