Index: trunk/extremum_seeking/esc_ros/include/esc_ros/esc_ros.h
===================================================================
--- trunk/extremum_seeking/esc_ros/include/esc_ros/esc_ros.h	(revision 11)
+++ trunk/extremum_seeking/esc_ros/include/esc_ros/esc_ros.h	(revision 19)
@@ -16,4 +16,6 @@
 #include <std_msgs/Float32.h>
 #include <std_msgs/Float32MultiArray.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Empty.h>
 #include <esc_common/esc.h>
 #include <string>
@@ -24,11 +26,12 @@
 protected:
 	ESC* esc_;
-	ros::Publisher pub_ref_, pub_monitor_;
-	ros::Subscriber sub_obj_val_;
+	ros::Publisher pub_ref_, pub_monitor_, pub_stopped_;
+	ros::Subscriber sub_obj_val_, sub_enable_;
 	ros::NodeHandle* n_;
 	double obj_val_;
 	std::vector<double> state_vec_;
-	bool initialized_, monitor_, first_obj_val_received_;
+	bool initialized_, monitor_, first_obj_val_received_,enabled_, reference_zeroed_;
 	double period_;
+	unsigned int opt_dim_;
 
 public:
@@ -37,4 +40,6 @@
 	virtual void step();
 	virtual void spin();
+	virtual void reset();
+	virtual void enableCallback(std_msgs::Bool msg);
 	virtual ~ESCROS(){};
 protected: