execute_trajectory_action_capability.h
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00034 
00035 /*
00036  * Capability of execute trajectory with a ROS action.
00037  * In order to allow monitoring and stopping the execution,
00038  * the service should be turned into an action.
00039  *
00040  * Author: Kentaro Wada
00041  * */
00042 
00043 #ifndef MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
00044 #define MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
00045 
00046 #include <moveit/move_group/move_group_capability.h>
00047 #include <actionlib/server/simple_action_server.h>
00048 #include <moveit_msgs/ExecuteTrajectoryAction.h>
00049 
00050 namespace move_group
00051 {
00052 class MoveGroupExecuteTrajectoryAction : public MoveGroupCapability
00053 {
00054 public:
00055   MoveGroupExecuteTrajectoryAction();
00056 
00057   virtual void initialize();
00058 
00059 private:
00060   void executePathCallback(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal);
00061   void executePathCallback_Execute(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal,
00062                                    moveit_msgs::ExecuteTrajectoryResult& action_res);
00063   void preemptExecuteTrajectoryCallback();
00064   void setExecuteTrajectoryState(MoveGroupState state);
00065 
00066   boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::ExecuteTrajectoryAction> > execute_action_server_;
00067 };
00068 
00069 }  // namespace move_group
00070 
00071 #endif  // MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Nov 26 2018 03:23:11