torso.h

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#ifndef _RAPID_PR2_TORSO_H_
#define _RAPID_PR2_TORSO_H_

#include "actionlib/client/simple_action_client.h"
#include "control_msgs/FollowJointTrajectoryAction.h"
#include "rapid_robot/joint_state_reader.h"

namespace rapid {
namespace pr2 {
class Torso {
 public:
  static const double kMinHeight;  
  static const double kMaxHeight;  

  explicit Torso(const rapid::JointStateReader& js_reader);

  bool StartMoving(double height);

  bool IsDone() const;

  void Cancel();

 private:
  static const double kMaxVel;
  static const char kTorsoJoint[];
  actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction>
      client_;
  const rapid::JointStateReader& js_reader_;
};

static const char kTorsoAction[] = "/torso_controller/follow_joint_trajectory";
const double Torso::kMinHeight = 0;
const double Torso::kMaxHeight = 0.31;
const double Torso::kMaxVel = 0.013;
const char Torso::kTorsoJoint[] = "torso_lift_joint";
}  // namespace pr2
}  // namespace rapid

#endif  // _RAPID_PR2_TORSO_H_