BehaviorInterface.hpp
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00001 /*
00002  * BehaviorInterface.hpp
00003  *
00004  *  Created on: Nov 22, 2011
00005  *      Author: mriedel
00006  */
00007 
00008 #ifndef BEHAVIORINTERFACE_HPP_
00009 #define BEHAVIORINTERFACE_HPP_
00010 
00011 #include <telekyb_defines/telekyb_defines.hpp>
00012 
00013 #include <ros/ros.h>
00014 
00015 // Services
00016 #include <telekyb_srvs/BehaviorInput.h>
00017 #include <telekyb_srvs/BehaviorOutput.h>
00018 
00019 #include <telekyb_srvs/BoolInput.h>
00020 
00021 namespace TELEKYB_NAMESPACE {
00022 
00023 // forward declaration
00024 class Behavior;
00025 
00026 class BehaviorInterface {
00027 protected:
00028         Behavior& behavior;
00029 
00030         // NodeHandle
00031         ros::NodeHandle nodeHandle;
00032 
00033         // ServiceServers
00034         ros::ServiceServer setNextBehavior;
00035         ros::ServiceServer getNextBehavior;
00036         ros::ServiceServer setParameterInitialized;
00037 
00038         // ServiceServers Callbacks
00039         bool setNextBehaviorCB(
00040                         telekyb_srvs::BehaviorInput::Request& request,
00041                         telekyb_srvs::BehaviorInput::Response& response);
00042 
00043         bool getNextBehaviorCB(
00044                         telekyb_srvs::BehaviorOutput::Request& request,
00045                         telekyb_srvs::BehaviorOutput::Response& response);
00046 
00047         bool setParameterInitializedCB(
00048                         telekyb_srvs::BoolInput::Request& request,
00049                         telekyb_srvs::BoolInput::Response& response);
00050 
00051 
00052 public:
00053         BehaviorInterface(Behavior& behavior_);
00054         virtual ~BehaviorInterface();
00055 };
00056 
00057 }
00058 
00059 #endif /* BEHAVIORINTERFACE_HPP_ */
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tk_behavior
Author(s): Dr. Antonio Franchi and Martin Riedel
autogenerated on Mon Nov 11 2013 11:13:36