RosTaskBase.h
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1 //| This file is a part of the ORCA framework.
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3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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9 //| ORCA is a whole-body reactive controller framework for robotics.
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36 
37 #pragma once
38 
39 #include <orca/common/TaskBase.h>
41 
42 namespace orca_ros
43 {
44 
45 namespace common
46 {
47  class RosTaskBase : public RosWrapperBase
48  {
49  public:
50  RosTaskBase(const std::string& robot_name,
51  const std::string& controller_name,
52  const std::string& generic_prefix,
53  std::shared_ptr<orca::common::TaskBase> base);
54  virtual ~RosTaskBase();
55 
56 
57  private:
58  bool isActivatedService( orca_ros::GetBool::Request& req,
59  orca_ros::GetBool::Response& res
60  );
61  bool getNameService( orca_ros::GetString::Request& req,
62  orca_ros::GetString::Response& res
63  );
64  bool activateService( orca_ros::GetBool::Request& req,
65  orca_ros::GetBool::Response& res
66  );
67  bool deactivateService( orca_ros::GetBool::Request& req,
68  orca_ros::GetBool::Response& res
69  );
70  bool printService( std_srvs::Empty::Request& req,
71  std_srvs::Empty::Response& res
72  );
73  bool getStateService( orca_ros::GetEnum::Request& req,
74  orca_ros::GetEnum::Response& res
75  );
76  bool setRampDurationService(orca_ros::SetDouble::Request& req,
77  orca_ros::SetDouble::Response& res
78  );
79  bool getRampDurationService(orca_ros::GetDouble::Request& req,
80  orca_ros::GetDouble::Response& res
81  );
82 
83 
84  private:
85  std::shared_ptr<orca::common::TaskBase> base_;
87  ros::ServiceServer ss_isActivated_;
88  ros::ServiceServer ss_getName_;
89  ros::ServiceServer ss_activate_;
90  ros::ServiceServer ss_deactivate_;
91  ros::ServiceServer ss_print_;
92  ros::ServiceServer ss_getState_;
93  ros::ServiceServer ss_setRampDuration_;
94  ros::ServiceServer ss_getRampDuration_;
95  };
96 
97 } // namespace common
98 } // namespace orca_ros
Definition: RosWrapperBase.h:50
Definition: RosTaskBase.h:47
Definition: RosCartesianAccelerationPID.h:42
virtual ~RosTaskBase()
Definition: RosTaskBase.cc:23
RosTaskBase(const std::string &robot_name, const std::string &controller_name, const std::string &generic_prefix, std::shared_ptr< orca::common::TaskBase > base)
Definition: RosTaskBase.cc:5