Go to the documentation of this file.00001 #ifndef ABST_ACCEPTANCETEST_HPP
00002 #define ABST_ACCEPTANCETEST_HPP
00003
00004 #include <string>
00005 #include <vector>
00006
00007 #include <ros/ros.h>
00008 #include <ros_client.cpp>
00009
00010 class AbstAcceptanceTest{
00011 public:
00012 const std::string MSG_ERR_NOTIMPLEMENTED;
00013
00014 double default_task_duration;
00015
00016 static std::string GRNAME_LEFT_ARM;
00017 static std::string GRNAME_RIGHT_ARM;
00018 static std::string GRNAME_TORSO;
00019 static std::string GRNAME_HEAD;
00020
00021 ROS_Client robot_client;
00022
00023 AbstAcceptanceTest(){};
00024 AbstAcceptanceTest(ROS_Client rclient)
00025 :default_task_duration(7.0),
00026 MSG_ERR_NOTIMPLEMENTED("The method is not implemented in the derived class"),
00027 robot_client(rclient)
00028 {
00029
00030
00031
00032
00033 };
00034
00035 AbstAcceptanceTest(ROS_Client rclient, double default_task_duration)
00036 :default_task_duration(default_task_duration),
00037 MSG_ERR_NOTIMPLEMENTED("The method is not implemented in the derived class"),
00038 robot_client(rclient)
00039 {
00040
00041
00042
00043
00044 };
00045
00046 virtual ~AbstAcceptanceTest(){};
00047
00048 virtual void go_initpos(double dtaskduration=7.0){
00049
00050 }
00051
00052 virtual void set_joint_angles(std::string joint_group,
00053 std::vector<double> joint_angles,
00054 std::string msg_tasktitle="",
00055 double task_duration=7.0,
00056 bool do_wait=true)
00057 {
00058
00059
00060
00061
00062
00063
00064
00065
00066 }
00067
00068 virtual void set_pose(std::string joint_group,
00069 std::vector<double> pose,
00070 std::vector<double> rpy,
00071 std::string msg_tasktitle="",
00072 double task_duration=7.0,
00073 bool do_wait=true,
00074 std::string ref_frame_name=""){
00075
00076 }
00077
00078 virtual void set_pose_relative(std::string joint_group,
00079 int dx=0, int dy=0,int dz=0, int dr=0,int dp=0,int dw=0,
00080 std::string msg_tasktitle="",
00081 double task_duration=7.0,
00082 bool do_wait=true){
00083
00084 }
00085
00086 };
00087
00088 std::string AbstAcceptanceTest::GRNAME_LEFT_ARM = "larm";
00089 std::string AbstAcceptanceTest::GRNAME_RIGHT_ARM = "rarm";
00090 std::string AbstAcceptanceTest::GRNAME_TORSO = "torso";
00091 std::string AbstAcceptanceTest::GRNAME_HEAD = "head";
00092
00093
00094 #endif