statusPublisher.h
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00001 #ifndef STATUS_PUBLISHER_H
00002 #define STATUS_PUBLISHER_H
00003 
00004 #include "continual_planning_executive/ContinualPlanningStatus.h"
00005 #include "continual_planning_executive/plan.h"
00006 #include "continual_planning_executive/symbolicState.h"
00007 #include <ros/ros.h>
00008 
00009 class StatusPublisher
00010 {
00011    public:
00012       StatusPublisher();
00013       ~StatusPublisher();
00014 
00015       void startedStateEstimation();
00016       void finishedStateEstimation(bool success, const SymbolicState & state);
00017 
00018       void startedMonitoring();
00019       void finishedMonitoring(bool success);
00020 
00021       void startedPlanning();
00022       void finishedPlanning(bool success, const Plan & plan);
00023 
00024       void startedExecution(const DurativeAction & a);
00025       void finishedExecution(bool success, const DurativeAction & a);
00026 
00027       void updateCurrentPlan(const Plan & plan);
00028 
00029       void finishedContinualPlanning(bool success, const std::string & result);
00030 
00031 
00032       void publishStatus(int component, int status, const std::string & description);
00033 
00034       void setEnabled(bool on) { _enabled = on; }
00035 
00036    private:
00037       ros::Publisher _pubStatus;
00038       bool _enabled;
00039 };
00040 
00041 #endif
00042 
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continual_planning_executive
Author(s): Christian Dornhege
autogenerated on Tue Jan 22 2013 12:24:43