class robotinoNavigator{
    public:
        robotinoNavigator();
        void spin(){return;};						// designed to be inherited
        void setRobotinoVelocity(float vx, float vy, float omega);	//  sends a velocity message to robotino
        void setRobotinoGlobalVel(float vx,float vy, float omega);	// sets the velocity of the robotion in global reference frame
    
        struct pose{
            float array[6];
            bool gripperClosed;
        } BHAPose;
    
        void setBHAPose(pose myPose);   	// set the bhapose using a pose object 
        void setBHAPose(float x0,float x1,float x2,float x3,float x4,float x5, bool gripper); // set bha pose using primitives
        void sendPoseMsg();			// send the pose message.
    
        float targetPhi(float angle);		// returns a velocity to hold orientation at angle
    
        bool setOdom(float x, float y, float phi);
    
        // adjustable parameters
        float targetPhiGain;			// gain for proportional controll on in targetPhi()
        float minimumLinearVelocity;		// x or y velocity below this setting will be set to 0
        float minimumAngularVelocity;	// anguluar velocity below this setting will be set to 0
    
        potentialField::point getRobotinoPoint();
  
    private:
        /*
         * data
         */
        double x_,y_,phi_;			// the position of the robotino
    
        /*
         * callback functions
         */
        void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
    
    
        /*
         * publishers/subscribers
         */
        ros::NodeHandle n;
        ros::Publisher vel_pub;
        ros::Publisher bha_pub;
        ros::Publisher gripper_pub;
        ros::Subscriber odom_sub;
    
        /*
         * services
         */
    
        ros::ServiceClient odom_reset;  
};