Go to the documentation of this file.00001 #include "tidyup_actions/actionExecutorArmToSide.h"
00002 #include <pluginlib/class_list_macros.h>
00003 #include "tidyup_utils/planning_scene_interface.h"
00004
00005 PLUGINLIB_DECLARE_CLASS(tidyup_actions, action_executor_arm_to_side,
00006 tidyup_actions::ActionExecutorArmToSide,
00007 continual_planning_executive::ActionExecutorInterface)
00008
00009 namespace tidyup_actions
00010 {
00011
00012 void ActionExecutorArmToSide::initialize(const std::deque<std::string> & arguments)
00013 {
00014 ActionExecutorActionlib<tidyup_msgs::ArmToSideAction, tidyup_msgs::ArmToSideGoal,
00015 tidyup_msgs::ArmToSideResult>::initialize(arguments);
00016
00017 _armStatePredicateName = "arm-state";
00018 _armAtSideConstantName = "arm_at_side";
00019
00020 if(arguments.size() >= 3) {
00021 _armStatePredicateName = arguments[2];
00022 }
00023 if(arguments.size() >= 4) {
00024 _armAtSideConstantName = arguments[3];
00025 }
00026 }
00027
00028 bool ActionExecutorArmToSide::fillGoal(tidyup_msgs::ArmToSideGoal & goal,
00029 const DurativeAction & a, const SymbolicState & current)
00030 {
00031 if(!PlanningSceneInterface::instance()->resetPlanningScene())
00032 ROS_ERROR("%s: PlanningScene reset failed.", __PRETTY_FUNCTION__);
00033
00034 ROS_ASSERT(a.parameters.size() == 1);
00035 if(a.parameters[0] == "left_arm") {
00036 goal.left_arm = true;
00037 }
00038 if(a.parameters[0] == "right_arm") {
00039 goal.right_arm = true;
00040 }
00041
00042 return true;
00043 }
00044
00045 void ActionExecutorArmToSide::updateState(const actionlib::SimpleClientGoalState & actionReturnState,
00046 const tidyup_msgs::ArmToSideResult & result,
00047 const DurativeAction & a, SymbolicState & current)
00048 {
00049 ROS_INFO("ArmToSide returned result: %s", result.result.c_str());
00050 ROS_ASSERT(a.parameters.size() == 1);
00051 string arm = a.parameters[0];
00052 if(actionReturnState == actionlib::SimpleClientGoalState::SUCCEEDED)
00053 {
00054 ROS_INFO("Arm Side Position succeeded.");
00055 current.setObjectFluent(_armStatePredicateName, arm, _armAtSideConstantName);
00056 } else {
00057 current.setObjectFluent(_armStatePredicateName, arm, "arm_unknown");
00058 }
00059 }
00060
00061 };
00062