handle_robot.h
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00001 /******************************************************************************
00002    STDR Simulator - Simple Two DImensional Robot Simulator
00003    Copyright (C) 2013 STDR Simulator
00004    This program is free software; you can redistribute it and/or modify
00005    it under the terms of the GNU General Public License as published by
00006    the Free Software Foundation; either version 3 of the License, or
00007    (at your option) any later version.
00008    This program is distributed in the hope that it will be useful,
00009    but WITHOUT ANY WARRANTY; without even the implied warranty of
00010    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011    GNU General Public License for more details.
00012    You should have received a copy of the GNU General Public License
00013    along with this program; if not, write to the Free Software Foundation,
00014    Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
00015    
00016    Authors : 
00017    * Manos Tsardoulias, etsardou@gmail.com
00018    * Aris Thallas, aris.thallas@gmail.com
00019    * Chris Zalidis, zalidis@gmail.com 
00020 ******************************************************************************/
00021 
00022 #include <ros/ros.h>
00023 #include <actionlib/client/simple_action_client.h>
00024 #include <actionlib/client/terminal_state.h>
00025 #include <stdr_msgs/RobotIndexedMsg.h>
00026 #include <stdr_msgs/SpawnRobotAction.h>
00027 #include <stdr_msgs/DeleteRobotAction.h>
00028 #include <stdr_msgs/MoveRobot.h>
00029 #include <stdr_robot/exceptions.h>
00030 #include <geometry_msgs/Pose2D.h>
00031 
00032 #ifndef HANDLE_ROBOT_H
00033 #define HANDLE_ROBOT_H
00034 
00039 namespace stdr_robot {
00040 
00041   typedef actionlib::SimpleActionClient<stdr_msgs::SpawnRobotAction> 
00042     SpawnRobotClient;
00043   typedef actionlib::SimpleActionClient<stdr_msgs::DeleteRobotAction> 
00044     DeleteRobotClient;
00045 
00050   class HandleRobot {
00051     //------------------------------------------------------------------------//
00052     private:
00053     
00055       SpawnRobotClient _spawnRobotClient;
00057       DeleteRobotClient _deleteRobotClient;
00058       
00059     //------------------------------------------------------------------------//
00060     public:
00061 
00066       HandleRobot();
00067       
00073       stdr_msgs::RobotIndexedMsg spawnNewRobot(const stdr_msgs::RobotMsg msg);
00074       
00080       bool deleteRobot(const std::string& name);
00081       
00088       bool moveRobot(const std::string& name, 
00089         const geometry_msgs::Pose2D newPose);
00090   };
00091 }
00092 
00093 #endif


stdr_robot
Author(s): Manos Tsardoulias, Chris Zalidis, Aris Thallas
autogenerated on Thu Jun 6 2019 18:57:28