Torso.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
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 */

#ifndef __TORSO_H__
#define __TORSO_H__

#include <ros/ros.h>
#include <pr2_controllers_msgs/SingleJointPositionAction.h>
#include <actionlib/client/simple_action_client.h>

// Our Action interface type, provided as a typedef for convenience
typedef actionlib::SimpleActionClient<pr2_controllers_msgs::SingleJointPositionAction> TorsoClient;

class Torso{

private:
  TorsoClient *torso_client_;
  //Action client initialization
  Torso();

  ~Torso(){
    delete torso_client_;
  }

  static Torso *instance;


public:

  static Torso* getInstance() {
      if (!instance)
        instance = new Torso();
     return instance;
  }


  void pos( double position );

  //tell the torso to go up
  void up();

  //tell the torso to go down
  void down();

};


#endif