RosTaskBaseProxy.h
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1 //| This file is a part of the ORCA framework.
2 //|
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 
40 #include <orca/common/TaskBase.h>
41 
42 namespace orca_ros
43 {
44 
45 namespace common
46 {
48  {
49  public:
50  RosTaskBaseProxy(const std::string& robot_name,
51  const std::string& controller_name,
52  const std::string& task_name,
53  const std::string& generic_prefix
54  );
55  virtual ~RosTaskBaseProxy();
56 
57 
58  public: // public interface functions to be wrapped by services
59  bool isActivated();
60  const std::string& getName();
61  bool activate();
62  bool deactivate();
63  void print();
64  orca::common::TaskBase::State getState();
65  void setRampDuration(double ramp_time);
66  double getRampDuration();
67 
68  private:
69  const std::string task_name_;
70  ros::ServiceClient sc_isActivated_;
71  ros::ServiceClient sc_getName_;
72  ros::ServiceClient sc_activate_;
73  ros::ServiceClient sc_deactivate_;
74  ros::ServiceClient sc_print_;
75  ros::ServiceClient sc_getState_;
76  ros::ServiceClient sc_setRampDuration_;
77  ros::ServiceClient sc_getRampDuration_;
78  };
79 
80 } // namespace common
81 } // namespace orca_ros
void setRampDuration(double ramp_time)
Definition: RosTaskBaseProxy.cc:75
Definition: RosWrapperBase.h:50
bool deactivate()
Definition: RosTaskBaseProxy.cc:49
Definition: RosCartesianAccelerationPID.h:42
const std::string & getName()
Definition: RosTaskBaseProxy.cc:36
bool isActivated()
Definition: RosTaskBaseProxy.cc:27
virtual ~RosTaskBaseProxy()
Definition: RosTaskBaseProxy.cc:23
double getRampDuration()
Definition: RosTaskBaseProxy.cc:84
void print()
Definition: RosTaskBaseProxy.cc:58
bool activate()
Definition: RosTaskBaseProxy.cc:40
Definition: RosTaskBaseProxy.h:47
RosTaskBaseProxy(const std::string &robot_name, const std::string &controller_name, const std::string &task_name, const std::string &generic_prefix)
Definition: RosTaskBaseProxy.cc:5
orca::common::TaskBase::State getState()
Definition: RosTaskBaseProxy.cc:66