Go to the documentation of this file.00001 #ifndef PUTDOWN_MODULES_H
00002 #define PUTDOWN_MODULES_H
00003
00004 #include "tfd_modules/module_api/pddlModuleTypes.h"
00005 #include <map>
00006 #include <string>
00007 #include <utility>
00008 #include <ros/ros.h>
00009 #include <tidyup_msgs/GetPutdownPose.h>
00010
00011 using namespace modules;
00012
00017 static const bool g_Debug = false;
00018
00020
00023 bool callFindPutdownPoseService(tidyup_msgs::GetPutdownPose & srv);
00024
00026 bool fillRequestAndCreatCacheKey(const ParameterList & parameterList, predicateCallbackType predicateCallback,
00027 numericalFluentCallbackType numericalFluentCallback, tidyup_msgs::GetPutdownPose::Request & request, string& cacheKey);
00028
00029
00030 #ifdef __cplusplus
00031 extern "C" {
00032 #endif
00033
00034 void putdown_init(int argc, char** argv);
00035
00036 double canPutdown(const ParameterList & parameterList, predicateCallbackType predicateCallback,
00037 numericalFluentCallbackType numericalFluentCallback, int relaxed);
00038
00039 int updatePutdownPose(const ParameterList & parameterList, predicateCallbackType predicateCallback,
00040 numericalFluentCallbackType numericalFluentCallback, std::vector<double> & writtenVars);
00041
00042
00043 #ifdef __cplusplus
00044 }
00045 #endif
00046
00047 #endif
00048
