modbus_linux/include/Planning.h

#ifndef __PLANNING__H___
#define __PLANNING__H___

#include <ros/ros.h>
#include <nav_msgs/GetPlan.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_broadcaster.h>
#include <tf/tf.h>
#include "tf2_msgs/TFMessage.h"

#include <Eigen/Core>
#include <Eigen/Dense>


#include <string>
#include <boost/foreach.hpp>
#include <boost/thread.hpp>

#define forEach BOOST_FOREACH



class Planning
{
public:
    Planning();
    ~Planning();
    bool Init();
    bool Make_plan(double x0,double y0,double x1,double y1);
    bool Make_plan(tf::Transform start,tf::Transform target);

protected:
    
private:
    
    
    static void tf_callback(const tf2_msgs::TFMessage::ConstPtr& msg,Planning* p);
    static void thread_publish_path(Planning* plan);
public:
    ros::NodeHandle 	nh_;
    ros::Publisher 	path_publisher_;
    ros::Publisher 	path_publisher_left_;
    ros::Publisher 	path_publisher_right_;

    nav_msgs::Path 	path_;
    nav_msgs::Path 	path_left_;
    nav_msgs::Path 	path_right_;

    ros::ServiceClient  make_plan_client_;
    ros::Subscriber 	tf_sub_;
    boost::thread* 	plan_publisher_thread_;
    boost::mutex	mutex_path_;
    tf::Transform    	target_;
    tf::Transform	    start_pos_;
    
    
};

#endif