simulator.h
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	#ifndef SIMULATOR_H
	#define SIMULATOR_H

	#include "kite.h"
	#include "integrator.h"
	#include "ros/ros.h"
	#include "test_package/aircraft_controls.h"
	#include "sensor_msgs/MultiDOFJointState.h"
	#include "geometry_msgs/PoseStamped.h"


	class Simulator
	{
	public:
	Simulator(const ODESolver &object, const ros::NodeHandle &nh);
	virtual ~Simulator(){}
	void simulate();

	casadi::DM getState(){return state;}
	casadi::DM getPose(){return state(casadi::Slice(6,13));}

	void publish_state();
	void publish_pose();

	bool is_initialized(){return initialized;}
	void initialize(const casadi::DM &_init_value){state = _init_value; initialized = true;}

	private:
	std::shared_ptr<ODESolver> m_object;
	std::shared_ptr<ros::NodeHandle> m_nh;

	ros::Subscriber control_sub;
	ros::Publisher state_pub;
	ros::Publisher pose_pub;

	casadi::DM controls;
	casadi::DM state;

	void controlCallback(const test_package::aircraft_controls::ConstPtr &msg);
	void simple_controlCallback(const test_package::aircraft_controls::ConstPtr &msg);
	double sim_rate;
	sensor_msgs::MultiDOFJointState msg_state;

	bool initialized;
	};

	#endif // SIMULATOR_H