walkcontrol.h

//Small rqt plugin to control walking
//Author: Sebastian Schüller

#ifndef WALKCONTROL_H
#define WALKCONTROL_H

#include <rqt_gui_cpp/plugin.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>

#include <ui_walkcontrol.h>

#include <gait_msgs/GaitCommand.h>
#include <gait_msgs/GaitPerformance.h>

namespace walkcontrol
{

class WalkControl : public rqt_gui_cpp::Plugin
{
Q_OBJECT
public:
    WalkControl();
    virtual ~WalkControl();

    virtual void initPlugin(qt_gui_cpp::PluginContext& context);
    virtual void shutdownPlugin();

Q_SIGNALS:
    void perf_changed(const gait_msgs::GaitPerformanceConstPtr& data);

private Q_SLOTS:
    void walk();
    void reset();
    void handleWalk();
    void handleHalt();
    void setXTarget();
    void setYTarget();
    void setOmegaTarget();
    void handlePerf(const gait_msgs::GaitPerformanceConstPtr& data);

private:
    bool m_walking;

    ros::Publisher m_pub_cmd;
    gait_msgs::GaitCommand m_cmd;

    ros::Subscriber m_sub_perf;
    gait_msgs::GaitPerformance m_perf;

    Ui::walkcontrol m_ui;

};

}
#endif