LogicalNavigation.h

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#ifndef bwi_actexec_LogicalNavigation_h__guard
#define bwi_actexec_LogicalNavigation_h__guard

#include "actasp/Action.h"

#include <actionlib/client/simple_action_client.h>
#include <bwi_msgs/LogicalNavigationAction.h>

namespace bwi_krexec {

        
class LogicalNavigation : public actasp::Action {
public:

        explicit LogicalNavigation(const std::string &name,
                             const std::vector<std::string>& parameters = std::vector<std::string>());
        
        int paramNumber() const {return 1;}
        
        std::string getName() const {return name;}
        
        virtual void run();
        
        bool hasFinished() const {return done;}
        
        virtual Action *cloneAndInit(const actasp::AspFluent & fluent) const;
        
        virtual Action *clone() const {return new LogicalNavigation(*this);}
        
  virtual ~LogicalNavigation();
        
protected:
        
        virtual std::vector<std::string> getParameters() const {return parameters;}
        
        std::string name;
        std::vector<std::string> parameters;
        bool done;

  actionlib::SimpleActionClient<bwi_msgs::LogicalNavigationAction>* lnac;
  bwi_msgs::LogicalNavigationGoal goal;
  bool request_in_progress;

};      
}

#endif