grasp_data.h

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/* Authors: Bence Magyar, Dave Coleman
   Description: Data class used by the grasp generator.
*/

#ifndef MOVEIT_SIMPLE_GRASPS__GRASP_DATA_H_
#define MOVEIT_SIMPLE_GRASPS__GRASP_DATA_H_

// Ros
#include <ros/node_handle.h>

// Msgs
#include <geometry_msgs/Pose.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <moveit/robot_state/robot_state.h>

namespace moveit_simple_grasps
{

class GraspData
{
public:
  geometry_msgs::Pose grasp_pose_to_eef_pose_; // Convert generic grasp pose to this end effector's frame of reference
  trajectory_msgs::JointTrajectory pre_grasp_posture_; // when the end effector is in "open" position
  trajectory_msgs::JointTrajectory grasp_posture_; // when the end effector is in "close" position
  std::string base_link_; // name of global frame with z pointing up
  std::string ee_parent_link_; // the last link in the kinematic chain before the end effector, e.g. "/gripper_roll_link"
  std::string ee_group_; // the end effector name
  double grasp_depth_; // distance from center point of object to end effector
  int angle_resolution_; // generate grasps at PI/angle_resolution increments
  double approach_retreat_desired_dist_; // how far back from the grasp position the pregrasp phase should be
  double approach_retreat_min_dist_; // how far back from the grasp position the pregrasp phase should be at minimum
  double object_size_; // for visualization

public:

  GraspData();

  bool loadRobotGraspData(const ros::NodeHandle& nh, const std::string& end_effector);

  bool setRobotStatePreGrasp( robot_state::RobotStatePtr &robot_state );

  bool setRobotStateGrasp( robot_state::RobotStatePtr &robot_state );

  bool setRobotState( robot_state::RobotStatePtr &robot_state, const trajectory_msgs::JointTrajectory &posture );

  void print();
};

} // namespace

#endif