Gripper.h

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/*
 * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef __GRIPPER_H__
#define __GRIPPER_H__

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
#include <pr2_gripper_sensor_msgs/PR2GripperGrabAction.h>
#include <pr2_gripper_sensor_msgs/PR2GripperFindContactAction.h>
#include <std_srvs/Empty.h>

// Our Action interface type, provided as a typedef for convenience
typedef actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> GripperClient;
typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperGrabAction> GrabAC;
typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperFindContactAction> FindContactAC;

class Gripper{
private:
  GripperClient* gripper_client_;
  GrabAC* grab_;
  FindContactAC* contact_;

  std_srvs::Empty serv;
  //Action client initialization
  Gripper(int side = 0);

  ~Gripper();

  static Gripper *instance[];

  int side_;

public:

  static Gripper *getInstance(int side=0);

  //Open the gripper
  void openThreaded(double amount = 0.09);
  void open(double amount = 0.09);

  //Close the gripper
  void closeThreaded(double amount = 0.00);
  void close(double amount = 0.00);

    //Close the gripper
  void closeHard(double amount = 0.00);

  void updatePressureZero();

  void closeCompliant(double gain = 0.0001);

  double getAmountOpen();

};

#endif