tuck_arms_client.h
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // author: Adam Leeper
00031 
00032 #ifndef _TUCK_ARMS_CLIENT_H_
00033 #define _TUCK_ARMS_CLIENT_H_
00034 
00035 #include <ros/ros.h>
00036 
00037 #include <tf/transform_listener.h>
00038 #include <geometry_msgs/Twist.h>
00039 
00040 #include <actionlib/client/simple_action_client.h>
00041 
00042 #include <pr2_common_action_msgs/TuckArmsAction.h>
00043 #include <pr2_common_action_msgs/TuckArmsGoal.h>
00044 
00045 namespace pr2_wrappers {
00046 
00047 class TuckArmsClient{
00048 private:
00049 
00051   ros::NodeHandle nh_;
00052 
00054   ros::Duration timeout_;
00055   
00057   actionlib::SimpleActionClient<pr2_common_action_msgs::TuckArmsAction> tuck_arms_action_client_;
00058 
00059 
00060 public:
00062   TuckArmsClient(ros::NodeHandle &nh, const ros::Duration &timeout);
00063 
00064   ~TuckArmsClient();
00065 
00067   bool tuckArms( bool tuck_right, bool tuck_left, bool wait = false);
00068 
00069 };
00070 
00071 }
00072 
00073 
00074 #endif


pr2_wrappers
Author(s): Adam Leeper
autogenerated on Mon Oct 6 2014 12:08:38