00001 #ifndef ACTION_EXECUTOR_PLACE_OBJECT_H 00002 #define ACTION_EXECUTOR_PLACE_OBJECT_H 00003 00004 #include "continual_planning_executive/actionExecutorActionlib.hpp" 00005 #include "continual_planning_executive/symbolicState.h" 00006 #include <tidyup_msgs/PlaceObjectAction.h> 00007 00008 namespace tidyup_actions 00009 { 00010 00011 class ActionExecutorPutdownObject: public ActionExecutorActionlib<tidyup_msgs::PlaceObjectAction, 00012 tidyup_msgs::PlaceObjectGoal, tidyup_msgs::PlaceObjectResult> 00013 { 00014 public: 00015 virtual bool fillGoal(tidyup_msgs::PlaceObjectGoal & goal, 00016 const DurativeAction & a, const SymbolicState & current); 00017 00018 virtual void updateState(const actionlib::SimpleClientGoalState & actionReturnState, 00019 const tidyup_msgs::PlaceObjectResult & result, 00020 const DurativeAction & a, SymbolicState & current); 00021 }; 00022 00023 } 00024 ; 00025 00026 #endif 00027
