RosGenericConstraint.h
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1 //| This file is a part of the ORCA framework.
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36 
37 #pragma once
38 
39 #include <ros/ros.h>
40 #include <orca/constraint/GenericConstraint.h>
42 
43 namespace orca_ros
44 {
45 
46 namespace constraint
47 {
49  {
50  public:
51  RosGenericConstraint(const std::string& robot_name,
52  const std::string& controller_name,
53  std::shared_ptr<orca::constraint::GenericConstraint> gen_con);
54  virtual ~RosGenericConstraint();
55 
56  bool printService( std_srvs::Empty::Request& req,
57  std_srvs::Empty::Response& res
58  );
59  bool getSizeService( orca_ros::GetSize::Request& req,
60  orca_ros::GetSize::Response& res
61  );
62  bool rowsService( orca_ros::GetInt::Request& req,
63  orca_ros::GetInt::Response& res
64  );
65  bool colsService( orca_ros::GetInt::Request& req,
66  orca_ros::GetInt::Response& res
67  );
68  bool getLowerBoundService( orca_ros::GetMatrix::Request& req,
69  orca_ros::GetMatrix::Response& res
70  );
71  bool getUpperBoundService( orca_ros::GetMatrix::Request& req,
72  orca_ros::GetMatrix::Response& res
73  );
74  bool getConstraintMatrixService(orca_ros::GetMatrix::Request& req,
75  orca_ros::GetMatrix::Response& res
76  );
77 
78  private:
79  std::shared_ptr<orca::constraint::GenericConstraint> gc_;
80 
81  ros::ServiceServer ss_print_;
82  ros::ServiceServer ss_getSize_;
83  ros::ServiceServer ss_rows_;
84  ros::ServiceServer ss_cols_;
85  ros::ServiceServer ss_getLowerBound_;
86  ros::ServiceServer ss_getUpperBound_;
87  ros::ServiceServer ss_getConstraintMatrix_;
88 
89  };
90 
91 } // namespace constraint
92 } // namespace orca_ros
RosGenericConstraint(const std::string &robot_name, const std::string &controller_name, std::shared_ptr< orca::constraint::GenericConstraint > gen_con)
Definition: RosGenericConstraint.cc:5
bool getLowerBoundService(orca_ros::GetMatrix::Request &req, orca_ros::GetMatrix::Response &res)
Definition: RosGenericConstraint.cc:46
Definition: RosTaskBase.h:47
bool getSizeService(orca_ros::GetSize::Request &req, orca_ros::GetSize::Response &res)
Definition: RosGenericConstraint.cc:30
Definition: RosGenericConstraint.h:48
bool printService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Definition: RosGenericConstraint.cc:25
Definition: RosCartesianAccelerationPID.h:42
bool getConstraintMatrixService(orca_ros::GetMatrix::Request &req, orca_ros::GetMatrix::Response &res)
Definition: RosGenericConstraint.cc:56
bool getUpperBoundService(orca_ros::GetMatrix::Request &req, orca_ros::GetMatrix::Response &res)
Definition: RosGenericConstraint.cc:51
bool colsService(orca_ros::GetInt::Request &req, orca_ros::GetInt::Response &res)
Definition: RosGenericConstraint.cc:41
virtual ~RosGenericConstraint()
Definition: RosGenericConstraint.cc:20
bool rowsService(orca_ros::GetInt::Request &req, orca_ros::GetInt::Response &res)
Definition: RosGenericConstraint.cc:36