gripper_controller.h

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/*
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// author: Adam Leeper

#ifndef GRIPPER_CONTROLLER_H
#define GRIPPER_CONTROLLER_H

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>

#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>

#include <sensor_msgs/JointState.h>

#include <object_manipulator/tools/service_action_wrappers.h>

namespace pr2_wrappers {

class GripperController
{
private:

  ros::NodeHandle root_nh_;

  ros::NodeHandle priv_nh_;

  object_manipulator::MultiArmActionWrapper<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_action_client_;

  std::string virtualJointName(std::string arm_name);

  double jointToGap(double jointValue);

  double l_gripper_open_gap_value_;
  double r_gripper_open_gap_value_;

  double l_gripper_closed_gap_value_;
  double r_gripper_closed_gap_value_;

  double l_gripper_max_effort_;
  double r_gripper_max_effort_;

  std::string l_gripper_type_;
  std::string r_gripper_type_;

public:
  GripperController();

  ~GripperController();

  //------------------------------ Functionality -------------------------------

  bool getGripperValue(std::string arm_name, double &value);

  bool commandGripperValue(std::string arm_name, double value);

  //-------------------------------- Constants ---------------------------------

  double getGripperOpenGap(std::string arm_name) const 
  {
    if (arm_name == "right_arm") return r_gripper_open_gap_value_;
    else return l_gripper_open_gap_value_;
  }

  double getGripperClosedGap(std::string arm_name) const 
  {
    if (arm_name == "right_arm") return r_gripper_closed_gap_value_;
    else return l_gripper_closed_gap_value_;
  }

};

}

#endif