00001 #ifndef ACTION_EXECUTOR_MOVE_BASE_H 00002 #define ACTION_EXECUTOR_MOVE_BASE_H 00003 00004 #include "continual_planning_executive/actionExecutorActionlib.hpp" 00005 #include "continual_planning_executive/symbolicState.h" 00006 #include <move_base_msgs/MoveBaseAction.h> 00007 00008 namespace tidyup_actions 00009 { 00010 00011 class ActionExecutorDriveThroughDoor : public ActionExecutorActionlib<move_base_msgs::MoveBaseAction, 00012 move_base_msgs::MoveBaseGoal, move_base_msgs::MoveBaseResult> 00013 { 00014 public: 00015 virtual bool fillGoal(move_base_msgs::MoveBaseGoal & goal, 00016 const DurativeAction & a, const SymbolicState & current); 00017 00018 virtual void updateState(const actionlib::SimpleClientGoalState & actionReturnState, 00019 const move_base_msgs::MoveBaseResult & result, 00020 const DurativeAction & a, SymbolicState & current); 00021 }; 00022 00023 }; 00024 00025 #endif 00026
