JointTrajectoryAction.h
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00001 /*
00002  * Copyright (c) 2010, Robot Control and Pattern Recognition Group, Warsaw University of Technology.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Robot Control and Pattern Recognition Group,
00014  *       Warsaw University of Technology nor the names of its contributors may
00015  *       be used to endorse or promote products derived from this software
00016  *       without specific prior written permission.
00017  *
00018  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028  * POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 /*
00032  * JointTrajectoryAction.h
00033  *
00034  *  Created on: 23-09-2010
00035  *      Author: Konrad Banachowicz
00036  */
00037 
00038 #ifndef JOINTTRAJECTORYACTION_H_
00039 #define JOINTTRAJECTORYACTION_H_
00040 
00041 #include <string>
00042 #include <vector>
00043 
00044 //#include <boost/shared_ptr.h>
00045 
00046 #include <rtt/TaskContext.hpp>
00047 #include <rtt/Port.hpp>
00048 #include <rtt/Property.hpp>
00049 
00050 #include <oro_action_server.h>
00051 
00052 #include <control_msgs/FollowJointTrajectoryAction.h>
00053 #include <control_msgs/FollowJointTrajectoryActionGoal.h>
00054 
00055 #include <trajectory_msgs/JointTrajectoryPoint.h>
00056 #include <trajectory_msgs/JointTrajectory.h>
00057 
00058 class JointTrajectoryAction : public RTT::TaskContext
00059 {
00060 private:
00061     typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> JTAS;
00062     typedef JTAS::GoalHandle GoalHandle;
00063     typedef boost::shared_ptr<const control_msgs::FollowJointTrajectoryGoal> Goal;
00064 public:
00065     JointTrajectoryAction(const std::string& name);
00066     virtual ~JointTrajectoryAction();
00067 
00068     bool configureHook();
00069     bool startHook();
00070     void updateHook();
00071 protected:
00072     RTT::OutputPort<trajectory_msgs::JointTrajectoryPoint> trajectoryPoint_port;
00073 
00074     RTT::InputPort<bool> bufferReady_port;
00075     RTT::Property<int> numberOfJoints_prop;
00076 
00077     RTT::InputPort<trajectory_msgs::JointTrajectory> command_port_;
00078     RTT::InputPort<bool> trajectoryCompleat_port;
00079 private:
00080 
00081     void goalCB(GoalHandle gh);
00082     void cancelCB(GoalHandle gh);
00083 
00084     void commandCB();
00085     void compleatCB();
00086     void bufferReadyCB();
00087 
00088     std::vector<trajectory_msgs::JointTrajectoryPoint > trajectory;
00089     std::vector<std::string> jointNames;
00090     unsigned int numberOfJoints;
00091 
00092     unsigned int currentPoint;
00093     unsigned int endPoint;
00094 
00095     actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> as;
00096     bool goal_active;
00097     GoalHandle activeGoal;
00098     bool enable;
00099 };
00100 
00101 #endif /* JOINTTRAJECTORYACTION_H_ */


oro_joint_trajectory_action
Author(s): Konrad Banachowicz
autogenerated on Mon Oct 6 2014 03:10:05