joint_trajectory_action_controller.hpp
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00001 
00013 #ifndef _SR_JOINT_TRAJECTORY_ACTION_CONTROLLER_H_
00014 #define _SR_JOINT_TRAJECTORY_ACTION_CONTROLLER_H_
00015 
00016 #include <ros/ros.h>
00017 
00018 #include <actionlib/server/simple_action_server.h>
00019 #include <control_msgs/FollowJointTrajectoryAction.h>
00020 
00021 namespace shadowrobot
00022 {
00023   class JointTrajectoryActionController
00024   {
00025     typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> JTAS;
00026     typedef std::vector<trajectory_msgs::JointTrajectoryPoint> JointTrajectoryPointVec;
00027     typedef std::map<std::string, ros::Publisher> JointPubMap;
00028   public:
00029     JointTrajectoryActionController();
00030     ~JointTrajectoryActionController();
00031 
00032   private:
00033     ros::NodeHandle nh;
00034     JointPubMap    joint_pub;
00035     boost::shared_ptr<JTAS> action_server;
00036 
00037     void execute_trajectory(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal);
00038   };
00039 }
00040 
00041 /* For the emacs weenies in the crowd.
00042 Local Variables:
00043    c-basic-offset: 2
00044 End:
00045 */
00046 
00047 #endif


sr_mechanism_controllers
Author(s): Ugo Cupcic / ugo@shadowrobot.com , contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:06:50