actionExecutorArmToCarry.h

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#ifndef ACTION_EXECUTOR_ARM_TO_CARRY_H
#define ACTION_EXECUTOR_ARM_TO_CARRY_H

#include "continual_planning_executive/actionExecutorActionlib.hpp"
#include "continual_planning_executive/symbolicState.h"
#include <tidyup_msgs/PostGraspPositionAction.h>

namespace tidyup_actions
{

    class ActionExecutorArmToCarry : public ActionExecutorActionlib<tidyup_msgs::PostGraspPositionAction,
        tidyup_msgs::PostGraspPositionGoal, tidyup_msgs::PostGraspPositionResult>
    {
        public:
            virtual void initialize(const std::deque<std::string> & arguments);

            virtual bool fillGoal(tidyup_msgs::PostGraspPositionGoal & goal,
                    const DurativeAction & a, const SymbolicState & current);

            virtual void updateState(const actionlib::SimpleClientGoalState & actionReturnState, const tidyup_msgs::PostGraspPositionResult & result,
                    const DurativeAction & a, SymbolicState & current);

        private:
            std::string _armStatePredicateName;     // the arm state predicate name
            std::string _armAtCarryConstantName;    // the arm at carry position constant name
    };

};

#endif