LogicalNavigation.h
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00001 #ifndef bwi_actexec_LogicalNavigation_h__guard
00002 #define bwi_actexec_LogicalNavigation_h__guard
00003 
00004 #include "actasp/Action.h"
00005 
00006 #include <actionlib/client/simple_action_client.h>
00007 #include <bwi_msgs/LogicalNavigationAction.h>
00008 
00009 namespace bwi_krexec {
00010 
00011         
00012 class LogicalNavigation : public actasp::Action {
00013 public:
00014 
00015         explicit LogicalNavigation(const std::string &name,
00016                              const std::vector<std::string>& parameters = std::vector<std::string>());
00017         
00018         int paramNumber() const {return 1;}
00019         
00020         std::string getName() const {return name;}
00021         
00022         virtual void run();
00023         
00024         bool hasFinished() const {return done;}
00025         
00026         virtual Action *cloneAndInit(const actasp::AspFluent & fluent) const;
00027         
00028         virtual Action *clone() const {return new LogicalNavigation(*this);}
00029         
00030   virtual ~LogicalNavigation();
00031         
00032 protected:
00033         
00034         virtual std::vector<std::string> getParameters() const {return parameters;}
00035         
00036         std::string name;
00037         std::vector<std::string> parameters;
00038         bool done;
00039 
00040   actionlib::SimpleActionClient<bwi_msgs::LogicalNavigationAction>* lnac;
00041   bwi_msgs::LogicalNavigationGoal goal;
00042   bool request_in_progress;
00043 
00044 };      
00045 }
00046 
00047 #endif


bwi_kr_execution
Author(s): Matteo Leonetti, Piyush Khandelwal
autogenerated on Fri Aug 28 2015 10:14:46