head.h

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#ifndef _RAPID_PR2_HEAD_H_
#define _RAPID_PR2_HEAD_H_

#include "actionlib/client/simple_action_client.h"
#include "control_msgs/FollowJointTrajectoryAction.h"
#include "rapid_robot/joint_state_reader.h"
#include "rapid_utils/deg_rad.h"

namespace rapid {
namespace pr2 {
class Head {
 public:
  static const double kMinPanDegrees;   
  static const double kMaxPanDegrees;   
  static const double kMinTiltDegrees;  
  static const double kMaxTiltDegrees;  
  static const double kMinPanRadians;   
  static const double kMaxPanRadians;   
  static const double kMinTiltRadians;  
  static const double kMaxTiltRadians;  

  explicit Head(const rapid::JointStateReader& js_reader);

  bool StartPanTilt(const Radians& pan, const Radians& tilt);

  bool IsDone() const;

  void Cancel();

 private:
  static const char kPanTiltAction[];
  static const char kPanJoint[];
  static const char kTiltJoint[];
  static const double kMaxPanVel;   // In radians/s
  static const double kMaxTiltVel;  // In radians/s
  actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction>
      client_;
  const rapid::JointStateReader& js_reader_;
};

const double Head::kMinPanDegrees = -168;
const double Head::kMaxPanDegrees = 168;
const double Head::kMinTiltDegrees = -30;
const double Head::kMaxTiltDegrees = 60;
const double Head::kMinPanRadians = -168 * M_PI / 180;
const double Head::kMaxPanRadians = 168 * M_PI / 180;
const double Head::kMinTiltRadians = -30 * M_PI / 180;
const double Head::kMaxTiltRadians = 60 * M_PI / 180;

const char Head::kPanTiltAction[] =
    "/head_traj_controller/follow_joint_trajectory";
const char Head::kPanJoint[] = "head_pan_joint";
const char Head::kTiltJoint[] = "head_tilt_joint";
const double Head::kMaxPanVel = 6;
const double Head::kMaxTiltVel = 5;
}  // namespace pr2
}  // namespace rapid

#endif  // _RAPID_PR2_HEAD_H_