simple_grasp_executor.h
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00033 
00034 // Author(s): Matei Ciocarlie
00035 
00036 #ifndef _SIMPLE_GRASP_EXECUTOR_H_
00037 #define _SIMPLE_GRASP_EXECUTOR_H_
00038 
00039 #include "object_manipulator/grasp_execution/grasp_executor.h"
00040 
00041 namespace object_manipulator {
00042 
00044 
00049 class SimpleGraspExecutor : public GraspExecutor
00050 {
00051  private:
00053   kinematics_msgs::GetConstraintAwarePositionIK::Response ik_response_;
00054   
00056   virtual object_manipulation_msgs::GraspResult 
00057     prepareGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
00058                  const object_manipulation_msgs::Grasp &grasp);
00059   
00061   virtual object_manipulation_msgs::GraspResult 
00062     executeGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
00063                  const object_manipulation_msgs::Grasp &grasp);
00064  public:
00066  SimpleGraspExecutor(GraspMarkerPublisher *pub) : GraspExecutor(pub) {}
00067   
00068 };
00069 
00070 } //namespace grasp execution
00071 
00072 #endif


object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Thu Jan 2 2014 11:39:04