GraspModelRetriever.h
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00001 
00013 #ifndef RAIL_PICK_AND_PLACE_GRASP_MODEL_RETRIEVER_H_
00014 #define RAIL_PICK_AND_PLACE_GRASP_MODEL_RETRIEVER_H_
00015 
00016 // ROS
00017 #include <actionlib/server/simple_action_server.h>
00018 #include <graspdb/graspdb.h>
00019 #include <rail_pick_and_place_msgs/RetrieveGraspModelAction.h>
00020 #include <ros/ros.h>
00021 
00022 namespace rail
00023 {
00024 namespace pick_and_place
00025 {
00026 
00035 class GraspModelRetriever
00036 {
00037 public:
00043   GraspModelRetriever();
00044 
00050   virtual ~GraspModelRetriever();
00051 
00059   bool okay() const;
00060 
00061 private:
00069   void retrieveGraspModel(const rail_pick_and_place_msgs::RetrieveGraspModelGoalConstPtr &goal);
00070 
00072   bool okay_;
00074   graspdb::Client *graspdb_;
00075 
00077   ros::NodeHandle node_, private_node_;
00079   actionlib::SimpleActionServer<rail_pick_and_place_msgs::RetrieveGraspModelAction> as_;
00081   ros::Publisher point_cloud_pub_, poses_pub_;
00082 };
00083 
00084 }
00085 }
00086 
00087 #endif


rail_recognition
Author(s): David Kent , Russell Toris , bhetherman
autogenerated on Thu Jun 6 2019 19:44:08