move_action_capability.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
00039 
00040 #include <moveit/move_group/move_group_capability.h>
00041 #include <actionlib/server/simple_action_server.h>
00042 #include <moveit_msgs/MoveGroupAction.h>
00043 
00044 namespace move_group
00045 {
00046 
00047 class MoveGroupMoveAction : public MoveGroupCapability
00048 {
00049 public:
00050 
00051   MoveGroupMoveAction();
00052 
00053   virtual void initialize();
00054 
00055 private:
00056 
00057   void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr& goal);
00058   void executeMoveCallback_PlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr& goal, moveit_msgs::MoveGroupResult &action_res);
00059   void executeMoveCallback_PlanOnly(const moveit_msgs::MoveGroupGoalConstPtr& goal, moveit_msgs::MoveGroupResult &action_res);
00060   void startMoveExecutionCallback();
00061   void startMoveLookCallback();
00062   void preemptMoveCallback();
00063   void setMoveState(MoveGroupState state);
00064   bool planUsingPlanningPipeline(const planning_interface::MotionPlanRequest &req, plan_execution::ExecutableMotionPlan &plan);
00065 
00066   boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction> > move_action_server_;
00067   moveit_msgs::MoveGroupFeedback move_feedback_;
00068 
00069   MoveGroupState move_state_;
00070 };
00071 
00072 
00073 
00074 }
00075 
00076 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:43:56