action_release_handle.h

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/* Author: Wim Meeusen */

#ifndef ACTION_RELEASE_HANDLE_H
#define ACTION_RELEASE_HANDLE_H


#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <kdl/frames.hpp>
#include <door_msgs/DoorGoal.h>
#include <door_msgs/DoorAction.h>
#include <actionlib/server/simple_action_server.h>
#include <actionlib/client/simple_action_client.h>
#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
#include <pr2_common_action_msgs/ArmMoveIKAction.h>


namespace door_handle_detector{

typedef boost::shared_ptr<geometry_msgs::PoseStamped const> PoseConstPtr;

class ReleaseHandleAction
{
public:
  ReleaseHandleAction(tf::TransformListener& tf);
  ~ReleaseHandleAction();

private:
  void execute(const door_msgs::DoorGoalConstPtr& goal);

  tf::TransformListener& tf_; 
  actionlib::SimpleActionServer<door_msgs::DoorAction> action_server_;
  door_msgs::DoorResult action_result_;

  actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_action_client_;  

  actionlib::SimpleActionClient<pr2_common_action_msgs::ArmMoveIKAction> ik_action_client_;
  pr2_common_action_msgs::ArmMoveIKGoal ik_goal_;
};

}
#endif