EigenGraspPlannerClient.h

Go to the documentation of this file.

#ifndef GRASP_PLANNING_GRASPIT_ROS_EIGENGRASPPLANNERCLIENT_H
#define GRASP_PLANNING_GRASPIT_ROS_EIGENGRASPPLANNERCLIENT_H

#include <ros/ros.h>
#include <grasp_planning_graspit_msgs/LoadDatabaseModel.h>
#include <grasp_planning_graspit_msgs/AddToDatabase.h>
#include <moveit_msgs/GraspPlanning.h>
#include <geometry_msgs/Pose.h>

namespace grasp_planning_graspit_ros
{

class EigenGraspPlannerClient
{
public:
    EigenGraspPlannerClient();
    ~EigenGraspPlannerClient();

    bool isOK();

    int addRobot(const std::string& modelName, const std::string filename, const std::vector<std::string>& jointNames);

    int addObject(const std::string& modelName, const std::string filename, bool objectGraspable);

    int loadModel(const int modelID, bool clearWorld, const geometry_msgs::Pose& modelPose);

    int plan(const std::string robotModelName, const int objectID,
        const geometry_msgs::Pose * newObjectPose, const std::string& resultsOutputDirectory,
        std::vector<moveit_msgs::Grasp>& results);

private:

    void init();

    bool initialized;
    std::string addToDBService;
    std::string loadModelService;
    std::string saveWorldService;
    std::string egPlanningService;

    ros::NodeHandle node;
    ros::ServiceClient add_to_db_client, load_model_client, eg_planner_client;


};
}  // namespace
#endif  // GRASP_PLANNING_GRASPIT_ROS_EIGENGRASPPLANNERCLIENT_H