00001 00046 #ifndef _JACO_FINGERS_ACTION_H_ 00047 #define _JACO_FINGERS_ACTION_H_ 00048 00049 #include <ros/ros.h> 00050 #include "jaco_driver/jaco_comm.h" 00051 00052 #include <actionlib/server/simple_action_server.h> 00053 #include <jaco_driver/SetFingersPositionAction.h> 00054 00055 namespace jaco 00056 { 00057 00058 class JacoFingersActionServer 00059 { 00060 public: 00061 JacoFingersActionServer(JacoComm &, ros::NodeHandle &n); 00062 ~JacoFingersActionServer(); 00063 void ActionCallback(const jaco_driver::SetFingersPositionGoalConstPtr &); 00064 00065 private: 00066 JacoComm &arm; 00067 actionlib::SimpleActionServer<jaco_driver::SetFingersPositionAction> as_; 00068 }; 00069 00070 } 00071 00072 #endif // _JACO_FINGERS_ACTION_H_ 00073