00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 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