object_pose_detection_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _object_pose_detection_alg_node_h_
#define _object_pose_detection_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "object_pose_detection_alg.h"

// [publisher subscriber headers]

// [service client headers]

// [action server client headers]
#include <iri_action_server/iri_action_server.h>
#include <iri_perception_msgs/object_pose_detectionAction.h>

class ObjectPoseDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<ObjectPoseDetectionAlgorithm>
{
  private:
        // [publisher attributes]

        // [subscriber attributes]

        // [service attributes]

        // [client attributes]

        // [action server attributes]
        IriActionServer<iri_perception_msgs::object_pose_detectionAction> obj_pose_det_aserver_;
        void obj_pose_detStartCallback(const iri_perception_msgs::object_pose_detectionGoalConstPtr& goal);
        void obj_pose_detStopCallback(void);
        bool obj_pose_detIsFinishedCallback(void);
        bool obj_pose_detHasSucceedCallback(void);
        void obj_pose_detGetResultCallback(iri_perception_msgs::object_pose_detectionResultPtr& result);
        void obj_pose_detGetFeedbackCallback(iri_perception_msgs::object_pose_detectionFeedbackPtr& feedback);

        // [action client attributes]

  public:
        ObjectPoseDetectionAlgNode(void);

        ~ObjectPoseDetectionAlgNode(void);

  protected:
        void mainNodeThread(void);

        void node_config_update(Config &config, uint32_t level);

        void addNodeDiagnostics(void);

        // [diagnostic functions]
        
        // [test functions]
};

#endif