Class CbDetachObject

Defined in File cb_detach_object.hpp

Inheritance Relationships

Base Type

public smacc2::SmaccAsyncClientBehavior

Class Documentation

class CbDetachObject : public smacc2::SmaccAsyncClientBehavior

Client behavior that detaches the currently attached collision object.

This behavior detaches whatever object is currently attached to the robot’s gripper (tracked in CpGraspingComponent::currentAttachedObjectName) and removes it from the planning scene. Posts success or failure event based on the detach operation result.

Public Functions

inline void onEntry() override

Called when the behavior is entered.

Retrieves the currently attached object name from CpGraspingComponent, detaches it from the gripper, and removes it from the planning scene.

inline void onExit() override: Called when the behavior is exited.