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 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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#include <ros/ros.h>
#include <std_msgs/String.h>
#include <tf/transform_broadcaster.h>

#include <sstream>
/**
 * @file test.cpp
 * @author Emílio Estrelinha nº 38637 (emilio.estrelinha@ua.pt)
 * @brief small test
 */
#include <unistd.h>
#include <iostream>
#include <math.h>

#define PI 3.141592653589793238462643383279502884197


using namespace ros;
using namespace std;

int main(int argc, char** argv)
{
    ros::init(argc, argv, "control_test");
    
    tf::TransformBroadcaster br_tf;
    tf::Transform tf_right_feet;
    tf::Transform tf_left_feet;
    ros::Rate loop_rate(1000);
    
    tf_left_feet.setOrigin( tf::Vector3(0.0, 0.07, 0.0) );
    tf_left_feet.setRotation( tf::createQuaternionFromRPY(0.0, 0.0, 0.0) );
    tf_right_feet.setOrigin( tf::Vector3(0.0, -0.07, 0.0) );
    tf_right_feet.setRotation( tf::createQuaternionFromRPY(0.0, 0.0, 0.0) );

    //double valz=0, valy=0, d=0;
    
    while (ros::ok())
    {
        //valz=0.2 + 0.2*cos(d);
        //valy=0.0 + 0.35*sin(d);
        //tf_left_feet.setOrigin( tf::Vector3(valy, 0.10, valz) );
        //d+=0.001;
        
        
        br_tf.sendTransform(tf::StampedTransform(tf_left_feet, ros::Time::now(), "/world", "/tf_left_feet"));
        
        br_tf.sendTransform(tf::StampedTransform(tf_right_feet, ros::Time::now(), "/world", "/tf_right_feet"));
        
        ros::spinOnce();
        loop_rate.sleep();
    }
    
    return 0;
}