PathPlanner.hpp

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#ifndef INCLUDE_PACKAGE_IDENTIFICATION_USING_TURTLEBOT_PATHPLANNER_HPP_
#define INCLUDE_PACKAGE_IDENTIFICATION_USING_TURTLEBOT_PATHPLANNER_HPP_

#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <ros/ros.h>
#include <string>
#include <vector>
#include "package_identification_using_turtlebot/QReader.hpp"

class PathPlanner {
 private:
  ros::NodeHandle nh;
  ros::Publisher initPosePub;
  geometry_msgs::PoseWithCovarianceStamped initialPose;
  std::vector<move_base_msgs::MoveBaseGoal> goal;
  QReader reader;

  int counter;
  std::vector<double> publishInitPose(double x, double y, double w);

 public:
  explicit PathPlanner(std::vector<std::vector<double>>);
  ~PathPlanner();
  ros::Publisher returnPublisher();
  std::vector<double> callPublisher(double, double, double);
  std::vector<std::string> callVision(std::vector<std::string>);
  std::vector<std::string> sendGoals();
  int findPackage(std::vector<std::string>);
  std::string waitPackageDetection(std::string);
};

#endif  // INCLUDE_PACKAGE_IDENTIFICATION_USING_TURTLEBOT_PATHPLANNER_HPP_