00001 00002 #ifndef JAN_GRIPPER_H 00003 #define JAN_GRIPPER_H 00004 00005 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h> 00006 #include <actionlib/client/simple_action_client.h> 00007 #include <pcl_ros/point_cloud.h> 00008 #include <pcl/point_types.h> 00009 00010 //------------------------------------------------------------- 00011 //----------------Gripper-Definition--------------------------- 00012 //------------------------------------------------------------- 00013 00014 // Our Action interface type, provided as a typedef for convenience 00015 typedef actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> GripperClient; 00016 typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; 00017 00019 00025 class Gripper{ 00026 private: 00027 GripperClient* gripper_client_right; 00028 GripperClient* gripper_client_left; 00029 00030 public: 00031 //Action client initialization 00032 Gripper(); 00033 00034 ~Gripper(); 00036 void open_gripper(char lr); 00038 void close_gripper(char lr); 00039 00040 }; 00041 #endif
