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00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00037 /* 00038 * gripper_control.h 00039 * 00040 * Created on: Jul 2, 2010 00041 * Author: christian 00042 */ 00043 00044 #ifndef GRIPPER_CONTROL_H_ 00045 #define GRIPPER_CONTROL_H_ 00046 00047 #include <string> 00048 00049 #include <ros/ros.h> 00050 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h> 00051 #include <actionlib/client/simple_action_client.h> 00052 00053 00054 00055 00056 00057 00058 namespace simple_robot_control{ 00059 00060 using std::string; 00061 00062 class Gripper{ 00063 private: 00064 00065 string gripperside_str; 00066 actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_client_; 00067 00068 public: 00069 //Action client initialization 00070 Gripper(char gripper_side); 00071 00072 ~Gripper(); 00073 00074 //Open the gripper 00075 void open(double effort = -1); 00076 00077 //Close the gripper 00078 void close(double effort = 50); 00079 00080 void gripperToPos(double pos, double effort = 50); 00081 00082 00083 bool getOpeningWidth(double& opening_width); 00084 }; 00085 00086 } 00087 00088 #endif /* GRIPPER_CONTROL_H_ */