chase_cam.h

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#pragma once

#include <gazebo/gazebo_client.hh>
#include <gazebo/transport/transport.hh>

constexpr const char* TOPIC_CAMERA_POSE = "/gazebo/racetrack/user_camera/joy_pose";
constexpr const char* TOPIC_GAZEBO_POSES = "/gazebo/racetrack/pose/info";
const std::string CAR_NAME = std::string("racer");

const ignition::math::Vector3d CAMERA_OFFSET(-1.7, 0, 0.5);

class ChaseCam
{
    public:
    ChaseCam();

    private:
    gazebo::transport::NodePtr m_gazebo_node;
    gazebo::transport::PublisherPtr m_camera_pose_publisher;
    gazebo::transport::SubscriberPtr m_racer_pose_subscriber;

    void gazeboPosesCallback(ConstPosesStampedPtr& message);
    void publishCameraPose(ignition::math::Pose3d& pose);
    void updateCamera(ignition::math::Pose3d& car_pose);

    ignition::math::Vector3d m_last_position;
    ignition::math::Quaterniond m_last_rotation;
};