simple_grasp.h

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/* Authors: Robert Haschke */
 
#pragma once
 
#include <moveit/task_constructor/container.h>
#include <moveit/macros/class_forward.h>
#include <geometry_msgs/PoseStamped.h>
#include <Eigen/Geometry>
 
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotModel);
}
}  // namespace moveit
namespace moveit {
namespace task_constructor {
namespace stages {
 
class GenerateGraspPose;
 
class SimpleGraspBase : public SerialContainer
{
    moveit::core::RobotModelConstPtr model_;
 
protected:
    void setup(std::unique_ptr<Stage>&& generator, bool forward);
 
public:
    SimpleGraspBase(const std::string& name);
 
    void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 
    void setEndEffector(const std::string& eef) { setProperty("eef", eef); }
    void setObject(const std::string& object) { setProperty("object", object); }
 
    void setIKFrame(const geometry_msgs::PoseStamped& transform) { setProperty("ik_frame", transform); }
    void setIKFrame(const Eigen::Isometry3d& pose, const std::string& link);
    void setIKFrame(const std::string& link) { setIKFrame(Eigen::Isometry3d::Identity(), link); }
    template <typename T>
    void setIKFrame(const T& transform, const std::string& link) {
        setIKFrame(Eigen::Isometry3d(transform), link);
    }
 
    void setMaxIKSolutions(uint32_t max_ik_solutions) { setProperty("max_ik_solutions", max_ik_solutions); }
};
 
class SimpleGrasp : public SimpleGraspBase
{
public:
    SimpleGrasp(Stage::pointer&& generator = Stage::pointer(), const std::string& name = "grasp");
};
 
class SimpleUnGrasp : public SimpleGraspBase
{
public:
    SimpleUnGrasp(Stage::pointer&& generator = Stage::pointer(), const std::string& name = "ungrasp");
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit