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 /*
  * cmd_vel_mux.h
  *
  *  Created on: Nov 30, 2012
  *      Author: jorge
  */
 
 #ifndef CMD_VEL_MUX_H_
 #define CMD_VEL_MUX_H_
 
 
 #include <ros/ros.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include "cmd_vel_subscribers.h"
 
 
 class CmdVelMux
 {
 public:
 
   CmdVelMux();
   ~CmdVelMux();
 
   bool init(ros::NodeHandle& nh);
   geometry_msgs::PoseWithCovarianceStamped copyCurrent;
   geometry_msgs::PoseStamped copyGoal;
 
 private:
   CmdVelSubscribers  cmd_vel_sub;  /**< Pool of cmd_vel topics subscribers */
 
   ros::Publisher mux_cmd_vel_pub;  /**< Multiplexed command velocity topic */
   ros::Publisher allowed_sub_pub;  /**< Currently allowed cmd_vel subscriber */
 
   ros::Subscriber current_position; /**< Added by Rupam on 26-04-2014*/
   ros::Subscriber goal_position; /**< Added by Rupam on 28-04-2014*/
 
   void timerCallback(const ros::TimerEvent& event, unsigned int idx);
   void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& msg, unsigned int idx);
   void currentPosCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg); /**< Added by Rupam on 26-04-2014*/
   void goalPosCallback(const geometry_msgs::PoseStamped::ConstPtr& msg); /**< Added by Rupam on 28-04-2014*/
 
 
 
   // Functor assigned to each incoming velocity topic to bind it to cmd_vel callback
   class CmdVelFunctor
   {
   private:
     unsigned int idx;
     CmdVelMux*  node;
 
   public:
     CmdVelFunctor(unsigned int idx, CmdVelMux* node) :
         idx(idx), node(node) { }
 
     void operator()(const geometry_msgs::Twist::ConstPtr& msg)
     {
       node->cmdVelCallback(msg, idx);
     }
   };
 
   // Functor assigned to each velocity messages source to bind it to timer callback
   class TimerFunctor
   {
   private:
     unsigned int idx;
     CmdVelMux*  node;
 
   public:
     TimerFunctor(unsigned int idx, CmdVelMux* node) :
         idx(idx), node(node) { }
 
     void operator()(const ros::TimerEvent& event)
     {
       node->timerCallback(event, idx);
     }
   };
 };
 
 #endif /* CMD_VEL_MUX_H_ */