katana_gripper_grasp_controller.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2010  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * katana_gripper_grasp_controller.h
00020  *
00021  *  Created on: 29.01.2011
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  *
00024  * based on pr2_gripper_grasp_controller
00025  */
00026 
00027 #ifndef KATANA_GRIPPER_GRASP_CONTROLLER_H_
00028 #define KATANA_GRIPPER_GRASP_CONTROLLER_H_
00029 
00030 #include <ros/ros.h>
00031 
00032 #include <actionlib/server/simple_action_server.h>
00033 
00034 #include <control_msgs/GripperCommandAction.h>
00035 #include <control_msgs/QueryTrajectoryState.h>
00036 
00037 #include <katana/AbstractKatana.h>
00038 
00039 
00040 namespace katana
00041 {
00042 
00043 class KatanaGripperGraspController
00044 {
00045 public:
00046   KatanaGripperGraspController(boost::shared_ptr<AbstractKatana> katana);
00047   virtual ~KatanaGripperGraspController();
00048 
00049 private:
00051   actionlib::SimpleActionServer<control_msgs::GripperCommandAction> *action_server_;
00052 
00054   ros::ServiceServer query_srv_;
00055 
00056   boost::shared_ptr<AbstractKatana> katana_;
00057 
00059   double goal_threshold_;
00060 
00061   void executeCB(const control_msgs::GripperCommandGoalConstPtr &goal);
00062 
00063   bool serviceCallback(control_msgs::QueryTrajectoryState::Request &request,
00064                        control_msgs::QueryTrajectoryState::Response &response);
00065 
00066 };
00067 
00068 }
00069 
00070 #endif /* KATANA_GRIPPER_GRASP_CONTROLLER_H_ */


katana
Author(s): Martin Günther
autogenerated on Thu Aug 27 2015 13:40:35