abst_acceptancetest.hpp
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00001 #ifndef ABST_ACCEPTANCETEST_HPP
00002 #define ABST_ACCEPTANCETEST_HPP
00003 
00004 #include <string>
00005 #include <vector>
00006 
00007 #include <ros/ros.h>
00008 #include <ros_client.cpp>
00009 
00010 class AbstAcceptanceTest{
00011 public:
00012   const std::string MSG_ERR_NOTIMPLEMENTED;
00013 
00014   double default_task_duration;
00015 
00016   static std::string GRNAME_LEFT_ARM;
00017   static std::string GRNAME_RIGHT_ARM;
00018   static std::string GRNAME_TORSO;
00019   static std::string GRNAME_HEAD;
00020 
00021   ROS_Client robot_client;
00022 
00023   AbstAcceptanceTest(){};
00024   AbstAcceptanceTest(ROS_Client rclient)
00025     :default_task_duration(7.0),
00026      MSG_ERR_NOTIMPLEMENTED("The method is not implemented in the derived class"),
00027      robot_client(rclient)
00028   {
00029     /*
00030       @type robot_client: hironx_ros_bridge.ros_client.ROS_Client or
00031       hrpsys.hrpsys_config.HrpsysConfigurator
00032     */
00033   };
00034 
00035   AbstAcceptanceTest(ROS_Client rclient, double default_task_duration)
00036     :default_task_duration(default_task_duration),
00037      MSG_ERR_NOTIMPLEMENTED("The method is not implemented in the derived class"),
00038      robot_client(rclient)
00039   {
00040     /*
00041       @type robot_client: hironx_ros_bridge.ros_client.ROS_Client or
00042       hrpsys.hrpsys_config.HrpsysConfigurator
00043     */
00044   };
00045 
00046   virtual ~AbstAcceptanceTest(){};
00047 
00048   virtual void go_initpos(double dtaskduration=7.0){
00049     //throw NotImplementedError(MSG_ERR_NOTIMPLEMENTED);
00050   }
00051 
00052   virtual void set_joint_angles(std::string joint_group,
00053                                 std::vector<double> joint_angles,
00054                                 std::string msg_tasktitle="",
00055                                 double task_duration=7.0,
00056                                 bool do_wait=true)
00057   {
00058     /*
00059       Move by passing joint angles of an arm.
00060       @type joint_group: str
00061       @type joint_angles: [double]
00062       @type msg_tasktitle: str
00063       @type task_duration: double
00064     */
00065     //throw NotImplementedError(MSG_ERR_NOTIMPLEMENTED);
00066   }
00067 
00068   virtual void set_pose(std::string joint_group,
00069                         std::vector<double> pose,
00070                         std::vector<double> rpy,
00071                         std::string msg_tasktitle="",
00072                         double task_duration=7.0,
00073                         bool do_wait=true,
00074                         std::string ref_frame_name=""){
00075     //throw NotImplementedError(MSG_ERR_NOTIMPLEMENTED);
00076   }
00077 
00078   virtual void set_pose_relative(std::string joint_group,
00079                                  int dx=0, int dy=0,int dz=0, int dr=0,int dp=0,int dw=0,
00080                                  std::string msg_tasktitle="",
00081                                  double task_duration=7.0,
00082                                  bool do_wait=true){
00083     //throw NotImplementedError(MSG_ERR_NOTIMPLEMENTED);
00084   }
00085 
00086 };
00087 
00088 std::string AbstAcceptanceTest::GRNAME_LEFT_ARM = "larm";
00089 std::string AbstAcceptanceTest::GRNAME_RIGHT_ARM = "rarm";
00090 std::string AbstAcceptanceTest::GRNAME_TORSO = "torso";
00091 std::string AbstAcceptanceTest::GRNAME_HEAD  = "head";
00092 
00093 
00094 #endif


hironx_ros_bridge
Author(s): Kei Okada
autogenerated on Sun Sep 13 2015 23:21:39