00001 #ifndef NAVSTACK_MODULE_FULL_BODY_H 00002 #define NAVSTACK_MODULE_FULL_BODY_H 00003 00004 #include "tfd_modules/module_api/pddlModuleTypes.h" 00005 #include <ros/ros.h> 00006 #include <sensor_msgs/JointState.h> 00007 00008 using namespace modules; 00009 00010 void jointStateCallback(const sensor_msgs::JointState& msg); 00011 void publishPlanningArmState(); 00012 void switchToExecutionTopic(); 00013 00014 #ifdef __cplusplus 00015 extern "C" { 00016 #endif 00017 00018 void fullbody_navstack_init(int argc, char** argv); 00019 00020 double fullbody_pathCost(const ParameterList & parameterList, predicateCallbackType predicateCallback, 00021 numericalFluentCallbackType numericalFluentCallback, int relaxed); 00022 00023 #ifdef __cplusplus 00024 } 00025 #endif 00026 00027 00028 #endif 00029
