torso_client.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
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// author: Adam Leeper
#ifndef _TORSO_CLIENT_H_
#define _TORSO_CLIENT_H_


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

namespace pr2_wrappers {

// Our Action interface type, provided as a typedef for convenience
typedef actionlib::SimpleActionClient<pr2_controllers_msgs::SingleJointPositionAction> TorsoActionClient;

class TorsoClient{
private:

  TorsoActionClient *torso_client_;

public:
  TorsoClient();

  ~TorsoClient();

  void top();

  void bottom();

  void moveTo(const float &position);

  void stop();
};

}

#endif