move_arm.h

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#include <ros/ros.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include <actionlib/client/simple_action_client.h>
#include <string>

typedef actionlib::SimpleActionClient< pr2_controllers_msgs::JointTrajectoryAction > TrajClient;

class RobotArm
{
private:
  // Action client for the joint trajectory action 
  // used to trigger the arm movement action
  TrajClient* left_traj_client_;
  TrajClient* right_traj_client_;
  std::map<std::string, pr2_controllers_msgs::JointTrajectoryGoal*> goals;

public:
  RobotArm() ;

  ~RobotArm();
  void startTrajectory(std::string goal_name);

  pr2_controllers_msgs::JointTrajectoryGoal* createGoal(std::string lr, std::vector<double> positions);

  actionlib::SimpleClientGoalState getState(char lr);
 
};