move_joint_group.h
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00001 /*
00002  * Software License Agreement (Modified BSD License)
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00007  *  Redistribution and use in source and binary forms, with or without
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00034 
00038 #ifndef MOVEJOINTGROUP_H
00039 #define MOVEJOINTGROUP_H
00040 
00041 #include <string>
00042 #include <vector>
00043 #include <ros/ros.h>
00044 #include <ros/time.h>
00045 #include <actionlib/client/simple_action_client.h>
00046 #include <control_msgs/FollowJointTrajectoryAction.h>
00047 
00048 #include "play_motion/datatypes.h"
00049 
00050 namespace play_motion
00051 {
00055   class MoveJointGroup
00056   {
00057   private:
00058     typedef actionlib::SimpleActionClient
00059     <control_msgs::FollowJointTrajectoryAction>       ActionClient;
00060     typedef control_msgs::FollowJointTrajectoryGoal   ActionGoal;
00061     typedef control_msgs::FollowJointTrajectoryResult ActionResult;
00062     typedef boost::shared_ptr<const ActionResult>     ActionResultPtr;
00063     typedef boost::function<void(int)>                Callback;
00064 
00065   public:
00066     MoveJointGroup(const std::string& controller_name, const JointNames& joint_names);
00067 
00072     bool sendGoal(const std::vector<TrajPoint>& traj);
00073 
00078     bool isControllingJoint(const std::string& joint_name);
00079 
00085     bool isIdle() const;
00086 
00090     void cancel();
00091 
00096     void setCallback(const Callback& cb);
00097 
00101     const JointNames& getJointNames() const;
00102 
00106     actionlib::SimpleClientGoalState getState();
00107 
00111     const std::string& getName() const;
00112 
00113   private:
00114     void alCallback();
00115 
00116     bool            busy_;
00117     ros::NodeHandle nh_;               
00118     std::string     controller_name_;  
00119     JointNames      joint_names_;      
00120     ActionClient    client_;           
00121     Callback        active_cb_;        
00122     ros::Timer      configure_timer_;  
00123   };
00124 }
00125 
00126 #endif


play_motion
Author(s): Paul Mathieu
autogenerated on Wed Aug 26 2015 15:29:25