pick.h

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/* Authors: Robert Haschke */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/task_constructor/container.h>
#include <geometry_msgs/TwistStamped.h>
 
namespace moveit {
namespace task_constructor {
 
namespace solvers {
MOVEIT_CLASS_FORWARD(CartesianPath);
}
 
namespace stages {
 
class PickPlaceBase : public SerialContainer
{
    solvers::CartesianPathPtr cartesian_solver_;
    Stage* grasp_stage_ = nullptr;
    Stage* approach_stage_ = nullptr;
    Stage* lift_stage_ = nullptr;
 
public:
    PickPlaceBase(Stage::pointer&& grasp_stage, const std::string& name, bool forward);
 
    void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 
    void setEndEffector(const std::string& eef) { properties().set<std::string>("eef", eef); }
    void setObject(const std::string& object) { properties().set<std::string>("object", object); }
 
    solvers::CartesianPathPtr cartesianSolver() { return cartesian_solver_; }
 
    void setApproachRetract(const geometry_msgs::TwistStamped& motion, double min_distance, double max_distance);
 
    void setLiftPlace(const geometry_msgs::TwistStamped& motion, double min_distance, double max_distance);
    void setLiftPlace(const std::map<std::string, double>& joints);
};
 
class Pick : public PickPlaceBase
{
public:
    Pick(Stage::pointer&& grasp_stage = Stage::pointer(), const std::string& name = "pick")
      : PickPlaceBase(std::move(grasp_stage), name, true) {}
 
    void setApproachMotion(const geometry_msgs::TwistStamped& motion, double min_distance, double max_distance) {
        setApproachRetract(motion, min_distance, max_distance);
    }
 
    void setLiftMotion(const geometry_msgs::TwistStamped& motion, double min_distance, double max_distance) {
        setLiftPlace(motion, min_distance, max_distance);
    }
    void setLiftMotion(const std::map<std::string, double>& joints) { setLiftPlace(joints); }
};
 
class Place : public PickPlaceBase
{
public:
    Place(Stage::pointer&& ungrasp_stage = Stage::pointer(), const std::string& name = "place")
      : PickPlaceBase(std::move(ungrasp_stage), name, false) {}
 
    void setRetractMotion(const geometry_msgs::TwistStamped& motion, double min_distance, double max_distance) {
        setApproachRetract(motion, min_distance, max_distance);
    }
 
    void setPlaceMotion(const geometry_msgs::TwistStamped& motion, double min_distance, double max_distance) {
        setLiftPlace(motion, min_distance, max_distance);
    }
    void setPlaceMotion(const std::map<std::string, double>& joints) { setLiftPlace(joints); }
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit