00001 #ifndef bwi_krexec_ChangeFloor_h__guard 00002 #define bwi_krexec_ChangeFloor_h__guard 00003 00004 #include <boost/shared_ptr.hpp> 00005 00006 #include "actasp/Action.h" 00007 #include "CallGUI.h" 00008 00009 namespace bwi_krexec { 00010 00011 struct SimulatedChangeFloor : public actasp::Action { 00012 00013 public: 00014 00015 SimulatedChangeFloor(); 00016 00017 int paramNumber() const {return 1;} 00018 00019 std::string getName() const{return "changefloor";} 00020 00021 void run(); 00022 00023 bool hasFinished() const; 00024 00025 bool hasFailed() const; 00026 00027 actasp::Action *cloneAndInit(const actasp::AspFluent & fluent) const; 00028 00029 actasp::Action *clone() const {return new SimulatedChangeFloor(*this);} 00030 00031 private: 00032 00033 std::vector<std::string> getParameters() const; 00034 00035 std::string dest_room; 00036 00037 bool robot_teleported; 00038 ros::Time robot_teleportation_start_time; 00039 00040 bool done; 00041 bool failed; 00042 00043 boost::shared_ptr<CallGUI> askToChangeFloor; 00044 00045 }; 00046 00047 00048 } 00049 00050 #endif