00001 #ifndef ACTION_EXECUTOR_PICKUP_SPONGE_H 00002 #define ACTION_EXECUTOR_PICKUP_SPONGE_H 00003 00004 #include "continual_planning_executive/actionExecutorService.hpp" 00005 #include "continual_planning_executive/symbolicState.h" 00006 #include <std_srvs/Empty.h> 00007 00008 namespace tidyup_actions 00009 { 00010 00011 class ActionExecutorPickupSponge : public ActionExecutorService<std_srvs::Empty> 00012 { 00013 public: 00014 virtual bool fillGoal(std_srvs::Empty::Request & goal, 00015 const DurativeAction & a, const SymbolicState & current); 00016 00017 virtual void updateState(bool success, std_srvs::Empty::Response & response, 00018 const DurativeAction & a, SymbolicState & current); 00019 }; 00020 00021 }; 00022 00023 #endif 00024
