acceptancetest_ros.hpp
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00001 #ifndef ACCEPTANCE_TEST_HPP
00002 #define ACCEPTANCE_TEST_HPP
00003 
00004 #include <ros/ros.h>
00005 #include <testutil/abst_acceptancetest.hpp>
00006 #include <ros_client.cpp>
00007 
00008 #include <vector>
00009 
00010 class AcceptanceTestRos : public AbstAcceptanceTest{
00011 public:
00012   AcceptanceTestRos(){};
00013   AcceptanceTestRos(ROS_Client rclient)
00014     : AbstAcceptanceTest(rclient)
00015   {
00016     robot_client.init_action_clients();
00017   }
00018   ~AcceptanceTestRos(){}
00019 
00020   void go_initpos(double dtaskduration = 7.0){
00021     robot_client.go_init(dtaskduration);
00022   }
00023 
00024   void set_joint_angles(std::string joint_group,
00025                         std::vector<double>  joint_angles,
00026                         std::string msg_tasktitle = "",
00027                         double task_duration = 7.0,
00028                         bool do_wait = true
00029                         ){
00030     /*
00031       Move by passing joint angles of an arm.
00032       @type joint_group: str
00033       @type joint_angles: [double]
00034       @type msg_tasktitle: str
00035       @type task_duration: double
00036     */
00037     ROS_INFO("'''%s'''",msg_tasktitle.c_str());
00038     robot_client.set_joint_angles_deg(joint_group,joint_angles,task_duration,do_wait);
00039   }
00040 
00041   void set_pose(std::string joint_group,
00042                 std::vector<double> pose,
00043                 std::vector<double> rpy,
00044                 std::string msg_tasktitle="",
00045                 double task_duration=7.0,
00046                 bool do_wait=true,
00047                 std::string ref_frame_name=""){
00048     ROS_INFO("This method has not been implemented yet.");
00049   }
00050 
00051   void set_pose_relative(std::string joint_group,
00052                          int dx=0, int dy=0,int dz=0, int dr=0,int dp=0,int dw=0,
00053                          std::string msg_tasktitle="",
00054                          double task_duration=7.0,
00055                          bool do_wait=true){
00056     ROS_INFO("This method has not been implemented yet.");
00057   }
00058 
00059 };
00060 #endif


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