Go to the documentation of this file.00001 #ifndef __EE_CART_IMPED_ARM_HH__
00002 #define __EE_CART_IMPED_ARM_HH__
00003
00004 #include <ros/ros.h>
00005 #include <ee_cart_imped_msgs/EECartImpedAction.h>
00006 #include <actionlib/client/simple_action_client.h>
00007
00015 typedef actionlib::SimpleActionClient<ee_cart_imped_msgs::EECartImpedAction>
00016 EECartImpedClient;
00017
00027 class EECartImpedArm {
00028 private:
00029
00038 EECartImpedClient *traj_client_;
00039
00040 public:
00041
00056 EECartImpedArm(std::string ns);
00057
00062 ~EECartImpedArm();
00063
00077 void startTrajectory(ee_cart_imped_msgs::EECartImpedGoal goal,
00078 bool wait=true);
00079
00090 void stopTrajectory();
00091
00128 static void addTrajectoryPoint(ee_cart_imped_msgs::EECartImpedGoal &goal,
00129 double x, double y, double z, double ox,
00130 double oy, double oz, double ow,
00131 double fx, double fy, double fz, double tx,
00132 double ty, double tz, bool iswfx, bool iswfy,
00133 bool iswfz, bool iswtx, bool iswty, bool iswtz,
00134 double ts, std::string frame_id);
00135 };
00136
00137 #endif //ee_cart_imped_arm.hh