Head.h
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00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
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 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 
00031 #ifndef __HEAD_H__
00032 #define __HEAD_H__
00033 
00034 #include <ros/ros.h>
00035 
00036 #include <actionlib/client/simple_action_client.h>
00037 #include <pr2_controllers_msgs/PointHeadAction.h>
00038 
00039 #include "LinearMath/btVector3.h"
00040 
00041 
00042 
00043 // Our Action interface type, provided as a typedef for convenience
00044 typedef actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> PointHeadClient;
00045 
00046 class RobotHead
00047 {
00048 private:
00049   PointHeadClient* point_head_client_;
00050 
00052   RobotHead();
00053 
00054   ~RobotHead();
00055 
00056   static RobotHead *instance_;
00057 
00058   void spinner(std::string frame_id, double x, double y, double z, double rate);
00059 
00060   boost::thread *t1;
00061 
00062 public:
00064   void lookAt(std::string frame_id, double x, double y, double z,bool waitfor = false);
00065 
00066   void lookAtThreaded(std::string frame_id, double x, double y, double z);
00067 
00068   void lookAtThreaded(std::string frame_id,btVector3 target);
00069 
00070   void stopThread();
00071 
00072   static RobotHead* getInstance()
00073   {
00074       if (!instance_)
00075         instance_ = new RobotHead();
00076      return instance_;
00077   }
00078 
00079   volatile bool stop;
00080 
00081 };
00082 
00083 
00084 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57