00001 #ifndef ACTION_EXECUTOR_TUCK_ARMS_H 00002 #define ACTION_EXECUTOR_TUCK_ARMS_H 00003 00004 #include "continual_planning_executive/actionExecutorActionlib.hpp" 00005 #include "continual_planning_executive/symbolicState.h" 00006 #include <tidyup_msgs/ArmToSideAction.h> 00007 00008 namespace tidyup_actions 00009 { 00010 00011 class ActionExecutorArmToSide : public ActionExecutorActionlib<tidyup_msgs::ArmToSideAction, 00012 tidyup_msgs::ArmToSideGoal, tidyup_msgs::ArmToSideResult> 00013 { 00014 public: 00022 virtual void initialize(const std::deque<std::string> & arguments); 00023 00024 virtual bool fillGoal(tidyup_msgs::ArmToSideGoal & goal, 00025 const DurativeAction & a, const SymbolicState & current); 00026 00027 virtual void updateState(const actionlib::SimpleClientGoalState & actionReturnState, const tidyup_msgs::ArmToSideResult & result, 00028 const DurativeAction & a, SymbolicState & current); 00029 00030 private: 00031 std::string _armStatePredicateName; // the arm state predicate name 00032 std::string _armAtSideConstantName; // the arm at side position constant name 00033 00034 }; 00035 00036 }; 00037 00038 #endif 00039
