GraspPoseControllerHandler.h
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00001 /*
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00031 
00032 
00033 #ifndef _GRASP_POSE_CONTROLLER_HANDLER_H_
00034 #define _GRASP_POSE_CONTROLLER_HANDLER_H_
00035 
00036 #include <trajectory_execution_monitor/trajectory_controller_handler.h>
00037 #include <actionlib/client/simple_action_client.h>
00038 #include <actionlib/client/simple_client_goal_state.h>
00039 #include <object_manipulation_msgs/GraspHandPostureExecutionAction.h>
00040 
00041 class GraspPoseControllerHandler : public trajectory_execution_monitor::TrajectoryControllerHandler {
00042 
00043 public:
00044 
00045   GraspPoseControllerHandler(const std::string& group_name, const std::string& controller_name);
00046 
00047   bool executeTrajectory(const trajectory_msgs::JointTrajectory& trajectory,
00048                          boost::shared_ptr<trajectory_execution_monitor::TrajectoryRecorder>& recorder,
00049                          const trajectory_execution_monitor::TrajectoryFinishedCallbackFunction& traj_callback);
00050 
00051   void cancelExecution();
00052 
00053   void controllerDoneCallback(const actionlib::SimpleClientGoalState& state,
00054                               const object_manipulation_msgs::GraspHandPostureExecutionResultConstPtr& result);
00055 
00056   void controllerActiveCallback();
00057 
00058   void controllerFeedbackCallback(const object_manipulation_msgs::GraspHandPostureExecutionFeedbackConstPtr& feedback);
00059     
00060 
00061 protected:
00062   actionlib::SimpleActionClient<object_manipulation_msgs::GraspHandPostureExecutionAction> grasp_posture_execution_action_client_;
00063 }; 
00064 
00065 #endif
00066 


object_manipulation_tools
Author(s): Jnicho
autogenerated on Mon Oct 6 2014 00:56:17