generate_grasp_pose.h

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/* Authors: Michael Goerner
   Desc:    Generator Stage for simple grasp poses
*/
 
#pragma once
 
#include <moveit/task_constructor/stages/generate_pose.h>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class GenerateGraspPose : public GeneratePose
{
public:
    GenerateGraspPose(const std::string& name = "generate grasp pose");
 
    void init(const core::RobotModelConstPtr& robot_model) override;
    void compute() override;
 
    void setEndEffector(const std::string& eef) { setProperty("eef", eef); }
    void setObject(const std::string& object) { setProperty("object", object); }
    void setAngleDelta(double delta) { setProperty("angle_delta", delta); }
    void setRotationAxis(const Eigen::Vector3d& axis) { setProperty("rotation_axis", axis); }
 
    void setPreGraspPose(const std::string& pregrasp) { properties().set("pregrasp", pregrasp); }
    void setPreGraspPose(const moveit_msgs::RobotState& pregrasp) { properties().set("pregrasp", pregrasp); }
    void setGraspPose(const std::string& grasp) { properties().set("grasp", grasp); }
    void setGraspPose(const moveit_msgs::RobotState& grasp) { properties().set("grasp", grasp); }
 
protected:
    void onNewSolution(const SolutionBase& s) override;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit