move_joint_group.h

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/*
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 *  Copyright (c) 2013, PAL Robotics, S.L.
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#ifndef MOVEJOINTGROUP_H
#define MOVEJOINTGROUP_H

#include <string>
#include <vector>
#include <ros/ros.h>
#include <ros/time.h>
#include <actionlib/client/simple_action_client.h>
#include <control_msgs/FollowJointTrajectoryAction.h>

#include "play_motion/datatypes.h"

namespace play_motion
{
  class MoveJointGroup
  {
  private:
    typedef actionlib::SimpleActionClient
    <control_msgs::FollowJointTrajectoryAction>       ActionClient;
    typedef control_msgs::FollowJointTrajectoryGoal   ActionGoal;
    typedef control_msgs::FollowJointTrajectoryResult ActionResult;
    typedef boost::shared_ptr<const ActionResult>     ActionResultPtr;
    typedef boost::function<void(int)>                Callback;

  public:
    MoveJointGroup(const std::string& controller_name, const JointNames& joint_names);

    bool sendGoal(const std::vector<TrajPoint>& traj);

    bool isControllingJoint(const std::string& joint_name);

    bool isIdle() const;

    void cancel();

    void setCallback(const Callback& cb);

    const JointNames& getJointNames() const;

    actionlib::SimpleClientGoalState getState();

    const std::string& getName() const;

  private:
    void alCallback();

    bool            busy_;
    ros::NodeHandle nh_;               
    std::string     controller_name_;  
    JointNames      joint_names_;      
    ActionClient    client_;           
    Callback        active_cb_;        
    ros::Timer      configure_timer_;  
  };
}

#endif