00001 00002 #ifndef bwi_krexec_OpenDoor_h__guard 00003 #define bwi_krexec_OpenDoor_h__guard 00004 00005 #include "actasp/Action.h" 00006 00007 #include <ros/ros.h> 00008 00009 #include <string> 00010 00011 namespace bwi_krexec { 00012 00013 class OpenDoor : public actasp::Action{ 00014 public: 00015 OpenDoor(); 00016 00017 int paramNumber() const {return 1;} 00018 00019 std::string getName() const {return "opendoor";} 00020 00021 void run(); 00022 00023 bool hasFinished() const {return done;} 00024 00025 virtual bool hasFailed() const {return failed;} 00026 00027 actasp::Action *cloneAndInit(const actasp::AspFluent & fluent) const; 00028 00029 virtual actasp::Action *clone() const {return new OpenDoor(*this);} 00030 00031 private: 00032 00033 std::vector<std::string> getParameters() const; 00034 00035 std::string door; 00036 bool done; 00037 bool asked; 00038 bool open; 00039 bool failed; 00040 ros::Time startTime; 00041 00042 }; 00043 00044 } 00045 00046 #endif 00047