move_action_capability.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
#define MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <actionlib/server/simple_action_server.h>
#include <moveit_msgs/MoveGroupAction.h>

namespace move_group
{

class MoveGroupMoveAction : public MoveGroupCapability
{
public:

  MoveGroupMoveAction();

  virtual void initialize();

private:

  void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr& goal);
  void executeMoveCallback_PlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr& goal, moveit_msgs::MoveGroupResult &action_res);
  void executeMoveCallback_PlanOnly(const moveit_msgs::MoveGroupGoalConstPtr& goal, moveit_msgs::MoveGroupResult &action_res);
  void startMoveExecutionCallback();
  void startMoveLookCallback();
  void preemptMoveCallback();
  void setMoveState(MoveGroupState state);
  bool planUsingPlanningPipeline(const planning_interface::MotionPlanRequest &req, plan_execution::ExecutableMotionPlan &plan);

  boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction> > move_action_server_;
  moveit_msgs::MoveGroupFeedback move_feedback_;

  MoveGroupState move_state_;
};



}

#endif