robot.h
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00001 
00012 #ifndef ROBOT_H_
00013 #define ROBOT_H_
00014 
00015 #include <actionlib/client/simple_action_client.h>
00016 #include <ros/ros.h>
00017 #include <tf/transform_listener.h>
00018 #include <arm_navigation_msgs/MoveArmAction.h>
00019 
00024 #define HEAD_MOVE_THRESH 0.01
00025 
00032 class robot
00033 {
00034 public:
00038   robot();
00039 
00043   void checkTF();
00044 
00048   void reset_left();
00049 
00053   void reset_right();
00054 
00055 private:
00065   void move_arm_to_pose(float x, float y, float z, std::string frame, std::string group);
00066 
00067   ros::NodeHandle node; 
00069   ros::Time t; 
00071   tf::TransformListener tfl; 
00072   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_l_arm, move_r_arm; 
00074   float last_x, last_y, last_z; 
00075 };
00076 
00084 int main(int argc, char **argv);
00085 
00086 #endif


rail_cv_project
Author(s): Russell Toris, David Kent, Adrian‎ Boteanu
autogenerated on Sat Dec 28 2013 17:31:25