simple_grasps.h

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// Author: Dave Coleman
// Desc:   Generates grasps for a cube

#ifndef MOVEIT_SIMPLE_GRASPS__MOVEIT_SIMPLE_GRASPS_H_
#define MOVEIT_SIMPLE_GRASPS__MOVEIT_SIMPLE_GRASPS_H_

// ROS
#include <ros/ros.h>

// TF
#include <tf_conversions/tf_eigen.h>

// Msgs
#include <geometry_msgs/PoseArray.h>

// MoveIt
#include <moveit_msgs/Grasp.h>
#include <moveit/macros/deprecation.h>

// Eigen
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <eigen_conversions/eigen_msg.h>

// Visualization
#include <moveit_visual_tools/visual_tools.h>

// C++
#include <math.h>
#define _USE_MATH_DEFINES

#include <moveit_simple_grasps/grasp_data.h>

namespace moveit_simple_grasps
{

static const double RAD2DEG = 57.2957795;

// Grasp axis orientation
enum grasp_axis_t {X_AXIS, Y_AXIS, Z_AXIS};
enum grasp_direction_t {UP, DOWN};
enum grasp_rotation_t {FULL, HALF};

// Class
class SimpleGrasps
{
private:

  // class for publishing stuff to rviz
  moveit_visual_tools::VisualToolsPtr visual_tools_;

  // Transform from frame of box to global frame
  Eigen::Affine3d object_global_transform_;

  // Display more output both in console and in Rviz (with arrows and markers)
  bool verbose_;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW // Eigen requires 128-bit alignment for the Eigen::Vector2d's array (of 2 doubles). With GCC, this is done with a attribute ((aligned(16))).

  SimpleGrasps(moveit_visual_tools::VisualToolsPtr rviz_tools, bool verbose = false);

  ~SimpleGrasps();

  MOVEIT_DEPRECATED bool generateAllGrasps(const geometry_msgs::Pose& object_pose, const GraspData& grasp_data,
    std::vector<moveit_msgs::Grasp>& possible_grasps)
  {
    generateBlockGrasps(object_pose, grasp_data, possible_grasps);

    return true;
  }

  bool generateBlockGrasps(const geometry_msgs::Pose& object_pose, const GraspData& grasp_data,
    std::vector<moveit_msgs::Grasp>& possible_grasps);

  bool generateAxisGrasps(
    const geometry_msgs::Pose& object_pose,
    grasp_axis_t axis,
    grasp_direction_t direction,
    grasp_rotation_t rotation,
    double hand_roll,
    const GraspData& grasp_data,
    std::vector<moveit_msgs::Grasp>& possible_grasps);

  static geometry_msgs::PoseStamped getPreGraspPose(const moveit_msgs::Grasp &grasp, const std::string &ee_parent_link);

  MOVEIT_DEPRECATED static void printObjectGraspData(const GraspData& data)
  {
    ROS_INFO_STREAM_NAMED("grasp","ROBOT GRASP DATA DEBUG OUTPUT ---------------------");
    ROS_INFO_STREAM_NAMED("grasp","Base Link: " << data.base_link_);
    ROS_INFO_STREAM_NAMED("grasp","EE Parent Link: " << data.ee_parent_link_);
    ROS_INFO_STREAM_NAMED("grasp","Grasp Depth: " << data.grasp_depth_);
    ROS_INFO_STREAM_NAMED("grasp","Angle Resolution: " << data.angle_resolution_);
    ROS_INFO_STREAM_NAMED("grasp","Approach Retreat Desired Dist: " << data.approach_retreat_desired_dist_);
    ROS_INFO_STREAM_NAMED("grasp","Approach Retreat Min Dist: " << data.approach_retreat_min_dist_);
    ROS_INFO_STREAM_NAMED("grasp","Pregrasp Posture: \n" << data.pre_grasp_posture_);
    ROS_INFO_STREAM_NAMED("grasp","Grasp Posture: \n" << data.grasp_posture_);
    ROS_INFO_STREAM_NAMED("grasp","---------------------------------------------------\n");
  }

}; // end of class

typedef boost::shared_ptr<SimpleGrasps> SimpleGraspsPtr;
typedef boost::shared_ptr<const SimpleGrasps> SimpleGraspsConstPtr;

} // namespace

#endif