grasp_server.h

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#ifndef grasp_server_h___
#define grasp_server_h___

#include "ros/ros.h"
#include <boost/thread/mutex.hpp>
#include <boost/shared_ptr.hpp>
#include "icr_msgs/SetObject.h"
#include <vector>
#include <string>
#include "phalange.h"
#include "tf/tf.h"
#include <tf/transform_listener.h>

namespace ICR
{
class GraspServer
{
 public:

  GraspServer();
  ~GraspServer();

  void spin();

 private:

  ros::NodeHandle nh_, nh_private_;
  ros::ServiceServer set_obj_srv_;
  ros::Publisher grasp_pub_;  
  //ros::Publisher debug_pub_;//REMOVE  
  boost::mutex lock_;
  bool ref_set_;
   tf::TransformListener tf_list_;
  tf::StampedTransform palm_pose_;


  std::vector<Phalange*> phalanges_;

  //  CALLBACKS  //

  bool setObject(icr_msgs::SetObject::Request  &req, icr_msgs::SetObject::Response &res);
};
}//end namespace
#endif