gripper_controller.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 // author: Adam Leeper 00031 00032 #ifndef GRIPPER_CONTROLLER_H 00033 #define GRIPPER_CONTROLLER_H 00034 00035 #include <ros/ros.h> 00036 00037 #include <actionlib/client/simple_action_client.h> 00038 00039 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h> 00040 00041 #include <sensor_msgs/JointState.h> 00042 00043 #include <object_manipulator/tools/service_action_wrappers.h> 00044 00045 namespace pr2_wrappers { 00046 00047 class GripperController 00048 { 00049 private: 00050 00052 ros::NodeHandle root_nh_; 00053 00055 ros::NodeHandle priv_nh_; 00056 00058 object_manipulator::MultiArmActionWrapper<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_action_client_; 00059 00061 std::string virtualJointName(std::string arm_name); 00062 public: 00063 GripperController(); 00064 00065 ~GripperController(); 00066 00067 //------------------------------ Functionality ------------------------------- 00068 00070 bool getGripperValue(std::string arm_name, double &value); 00071 00073 bool commandGripperValue(std::string arm_name, double value); 00074 00075 //-------------------------------- Constants --------------------------------- 00076 00078 static const double GRIPPER_OPEN; 00080 static const double GRIPPER_CLOSED; 00081 }; 00082 00083 } 00084 00085 #endif