fixed_strategy.h

Go to the documentation of this file.

#ifndef _fixed_strategy_h_
#define _fixed_strategy_h_

#include "ros/this_node.h"
#include "ros/names.h"
#include "ros/node_handle.h"
#include "ros/rate.h"

#include "mutex.h"

// [publisher subscriber headers]

// [service client headers]
#include "std_srvs/Empty.h"
#include "std_msgs/Int32.h"
#include "iri_wam_common_msgs/wamaction.h"
#include "iri_wam_common_msgs/obs_request.h"

// [action server client headers]

#define NUMPOSES 3

enum {
    //remember to change the other .h enums (dummy_pomdp)!
    FOLDLOW,
    FOLDHIGH,
    SPREAD,
    FLIP,
    SHAKE,
    CHANGEPILE,
    MOVEAWAY,
    DUMMY,
    TAKE
};

enum {
    STRAIGHT,
    ISOMETRIC,
    PEG
};

enum {
    ANY,
    A,
    B
};


class FixedStrategy
{
  private:
    CMutex execution_mutex;
    bool execution_flag;

    ros::NodeHandle node_handle_;
    
    // [publisher attributes]
    ros::Publisher focused_obj_label_publisher;
    std_msgs::Int32 ObjLabel_msg;

    // [subscriber attributes]
        
    // [service attributes]
    ros::ServiceServer execution_flow_control_server;
    bool execution_flow_controlCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
            
    // [client attributes]
    ros::ServiceClient obs_client;
    iri_wam_common_msgs::obs_request obs_request_srv;
    ros::ServiceClient wam_action_client;
    iri_wam_common_msgs::wamaction wam_actions_client_srv;
            
    // [action server attributes]
            
    // [action client attributes]
  public:
    FixedStrategy();

    void mainLoop(void);

};
#endif