tracker_manager.h

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#ifndef TRACKER_MANAGER_H
#define TRACKER_MANAGER_H

#include <ros/ros.h>
#include <Eigen/Core>

#include "visual_servoing/Error.h"
#include "visual_servoing/TrackedPoints.h"

class TrackerManager {
    public:
        TrackerManager(ros::NodeHandle& nh);
        Eigen::VectorXd get_error();
        Eigen::VectorXd get_eef_pos();

    private:
        ros::Subscriber image_error_sub;
        visual_servoing::Error last_error;

        ros::Subscriber eef_pos_sub;
        visual_servoing::TrackedPoints last_eef_pos;

        void image_error_cb(const visual_servoing::Error::ConstPtr error) {
            last_error = *error;
        }

        void eef_pos_cb(const visual_servoing::TrackedPoints::ConstPtr eef_pos) {
            last_eef_pos = *eef_pos;
        }
};
#endif //TRACKER_MANAGER_H