Grasp.h

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#ifndef RAIL_PICK_AND_PLACE_GRASPDB_GRASP_H_
#define RAIL_PICK_AND_PLACE_GRASPDB_GRASP_H_

// graspdb
#include "Entity.h"
#include "Pose.h"

// ROS
#include <rail_pick_and_place_msgs/GraspWithSuccessRate.h>

// C++ Standard Library
#include <string>

namespace rail
{
namespace pick_and_place
{
namespace graspdb
{

class Grasp : public Entity
{
public:
  Grasp(const uint32_t id = Entity::UNSET_ID, const uint32_t grasp_model_id = Entity::UNSET_ID,
      const Pose &grasp_pose = Pose(), const std::string &eef_frame_id = "", const uint32_t successes = 0,
      const uint32_t attempts = 0, const time_t created = Entity::UNSET_TIME);

  Grasp(const Pose &grasp_pose, const uint32_t grasp_model_id, const std::string &eef_frame_id,
      const uint32_t successes, const uint32_t attempts);

  Grasp(const rail_pick_and_place_msgs::GraspWithSuccessRate &g, const uint32_t grasp_model_id);

  uint32_t getGraspModelID() const;

  void setGraspModelID(const uint32_t grasp_model_id);

  const Pose &getGraspPose() const;

  Pose &getGraspPose();

  void setGraspPose(const Pose &grasp_pose);

  const std::string &getEefFrameID() const;

  void setEefFrameID(const std::string &eef_frame_id);

  uint32_t getSuccesses() const;

  void setSuccesses(const uint32_t successes);

  uint32_t getAttempts() const;

  void setAttempts(const uint32_t attempts);

  double getSuccessRate() const;

  rail_pick_and_place_msgs::GraspWithSuccessRate toROSGraspWithSuccessRateMessage() const;

private:
  uint32_t grasp_model_id_;
  std::string eef_frame_id_;
  Pose grasp_pose_;
  uint32_t successes_, attempts_;
};

}
}
}

#endif