worldInterface.h

#ifndef WORLDINTERFACE_H
#define WORLDINTERFACE_H

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <string>

#include "../../support/header/conversions.h"

class WorldInterface
{
public:
  WorldInterface(std::string callerName);
  int waitReady(std::string objName);
  int waitReady(std::string firstFrame, std::string secondFrame);


  int getwT(Eigen::Matrix4d *wTobj, std::string objName);
  int getT(Eigen::Matrix4d* xTx_eigen, std::string firstFrame, std::string secondFrame);
  int getwPos(Eigen::Vector3d* pos, std::string robotName);



private:
  std::string callerName;
  tf::TransformListener tfListener;

};

#endif // WORLDINTERFACE_H