GraspPoseControllerHandler.h

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#ifndef _GRASP_POSE_CONTROLLER_HANDLER_H_
#define _GRASP_POSE_CONTROLLER_HANDLER_H_

#include <trajectory_execution_monitor/trajectory_controller_handler.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/simple_client_goal_state.h>
#include <object_manipulation_msgs/GraspHandPostureExecutionAction.h>

class GraspPoseControllerHandler : public trajectory_execution_monitor::TrajectoryControllerHandler {

public:

  GraspPoseControllerHandler(const std::string& group_name, const std::string& controller_name);

  bool executeTrajectory(const trajectory_msgs::JointTrajectory& trajectory,
                         boost::shared_ptr<trajectory_execution_monitor::TrajectoryRecorder>& recorder,
                         const trajectory_execution_monitor::TrajectoryFinishedCallbackFunction& traj_callback);

  void cancelExecution();

  void controllerDoneCallback(const actionlib::SimpleClientGoalState& state,
                              const object_manipulation_msgs::GraspHandPostureExecutionResultConstPtr& result);

  void controllerActiveCallback();

  void controllerFeedbackCallback(const object_manipulation_msgs::GraspHandPostureExecutionFeedbackConstPtr& feedback);
    

protected:
  actionlib::SimpleActionClient<object_manipulation_msgs::GraspHandPostureExecutionAction> grasp_posture_execution_action_client_;
}; 

#endif