Class CbAttachObject

Inheritance Relationships

Base Type

  • public smacc2::SmaccAsyncClientBehavior

Class Documentation

class CbAttachObject : public smacc2::SmaccAsyncClientBehavior

Client behavior that attaches a collision object to the robot gripper.

This behavior attaches a previously created grasping object to the robot’s end effector. The object must exist in the CpGraspingComponent’s graspingObjects map. Upon successful attachment, the object is added to the planning scene and attached to the gripper using the finger tip links.

Public Functions

inline CbAttachObject(std::string targetObjectName)

Constructor with object name.

Parameters:

targetObjectName – Name of the object to attach (must exist in CpGraspingComponent)

inline CbAttachObject()

Default constructor.

inline void onEntry() override

Called when the behavior is entered.

Retrieves the target object from CpGraspingComponent, adds it to the planning scene, and attaches it to the gripper. Posts success or failure event based on whether the object was found.

inline void onExit() override

Called when the behavior is exited.

Public Members

std::string targetObjectName_

Name of the target object to attach.