gripper.h

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#ifndef _RAPID_PR2_GRIPPER_H_
#define _RAPID_PR2_GRIPPER_H_

#include "actionlib/client/simple_action_client.h"
#include "boost/shared_ptr.hpp"
#include "pr2_controllers_msgs/Pr2GripperCommandAction.h"

namespace rapid {
namespace pr2 {
static const char kLeftGripperAction[] = "/l_gripper_controller/gripper_action";
static const char kRightGripperAction[] =
    "/r_gripper_controller/gripper_action";

class Gripper {
 public:
  static Gripper Left();

  static Gripper Right();

  bool StartOpening();

  bool StartClosing();

  bool StartClosing(double max_effort);

  bool IsDone() const;

  void Cancel();

 private:
  explicit Gripper(bool is_left);

  boost::shared_ptr<actionlib::SimpleActionClient<
      pr2_controllers_msgs::Pr2GripperCommandAction> >
      client_;
};
}  // namespace pr2
}  // namespace rapid

#endif  // _RAPID_PR2_GRIPPER_H_