generate_place_pose.h

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/* Authors: Robert Haschke
   Desc:    Generator Stage to place an object at a certain pose
*/
 
#pragma once
 
#include <moveit/task_constructor/stages/generate_pose.h>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class GeneratePlacePose : public GeneratePose
{
public:
    GeneratePlacePose(const std::string& name = "place pose");
 
    void compute() override;
 
    void setObject(const std::string& object) { setProperty("object", object); }
 
protected:
    void onNewSolution(const SolutionBase& s) override;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit