align_base.h
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00034 
00035 /* Author: Wim Meeusen */
00036 
00037 #ifndef ALIGN_BASE_H
00038 #define ALIGN_BASE_H
00039 
00040 #include <ros/ros.h>
00041 #include <tf/tf.h>
00042 #include <tf/transform_listener.h>
00043 #include <kdl/frames.hpp>
00044 #include <actionlib/server/simple_action_server.h>
00045 #include <actionlib/client/simple_action_client.h>
00046 #include <geometry_msgs/Point.h>
00047 #include <pr2_plugs_msgs/AlignBaseAction.h>
00048 #include <pr2_plugs_msgs/DetectWallNormAction.h>
00049 #include <move_base_msgs/MoveBaseAction.h>
00050 
00051 
00052 namespace pr2_plugs_actions{
00053 
00054 
00055 class AlignBaseAction
00056 {
00057 public:
00058   AlignBaseAction();
00059   ~AlignBaseAction();
00060 
00061   void execute(const pr2_plugs_msgs::AlignBaseGoalConstPtr& goal);
00062 
00063 private:
00064   geometry_msgs::Point toPoint(const tf::Vector3& pnt);
00065   geometry_msgs::Vector3 toVector(const tf::Vector3& pnt);
00066   tf::Vector3 fromVector(const geometry_msgs::Vector3& pnt);
00067   tf::Vector3 fromPoint(const geometry_msgs::Point& pnt);
00068   double getVectorAngle(const tf::Vector3& v1, const tf::Vector3& v2);
00069 
00070   actionlib::SimpleActionClient<pr2_plugs_msgs::DetectWallNormAction> wall_detector_;
00071   actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_omnidirectional_;
00072   tf::TransformListener tf_;
00073 
00074   actionlib::SimpleActionServer<pr2_plugs_msgs::AlignBaseAction> action_server_;
00075 };
00076 
00077 }
00078 
00079 #endif


pr2_plugs_actions
Author(s): Jon Bohren, Patrick Mihelich, Wim Meeussen, and Melonee Wise
autogenerated on Thu Nov 28 2013 11:47:13