GraspDemonstration.h
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00001 
00014 #ifndef RAIL_PICK_AND_PLACE_GRASPDB_GRASP_DEMONSTRATION_H_
00015 #define RAIL_PICK_AND_PLACE_GRASPDB_GRASP_DEMONSTRATION_H_
00016 
00017 // graspdb
00018 #include "Entity.h"
00019 #include "Pose.h"
00020 
00021 // ROS
00022 #include <rail_pick_and_place_msgs/GraspDemonstration.h>
00023 #include <sensor_msgs/Image.h>
00024 #include <sensor_msgs/PointCloud2.h>
00025 
00026 // C++ Standard Library
00027 #include <string>
00028 
00029 namespace rail
00030 {
00031 namespace pick_and_place
00032 {
00033 namespace graspdb
00034 {
00035 
00045 class GraspDemonstration : public Entity
00046 {
00047 public:
00062   GraspDemonstration(const uint32_t id = Entity::UNSET_ID, const std::string &object_name = "",
00063                      const Pose &grasp_pose = Pose(), const std::string &eef_frame_id = "",
00064                      const sensor_msgs::PointCloud2 &point_cloud = sensor_msgs::PointCloud2(),
00065                      const sensor_msgs::Image &image = sensor_msgs::Image(), const time_t created = Entity::UNSET_TIME);
00066 
00079   GraspDemonstration(const std::string &object_name, const Pose &grasp_pose, const std::string &eef_frame_id,
00080                      const sensor_msgs::PointCloud2 &point_cloud, const sensor_msgs::Image &image);
00081 
00089   GraspDemonstration(const rail_pick_and_place_msgs::GraspDemonstration &gd);
00090 
00098   const std::string &getObjectName() const;
00099 
00107   void setObjectName(const std::string &object_name);
00108 
00116   const Pose &getGraspPose() const;
00117 
00125   Pose &getGraspPose();
00126 
00134   void setGraspPose(const Pose &grasp_pose);
00135 
00143   const std::string &getEefFrameID() const;
00144 
00152   void setEefFrameID(const std::string &eef_frame_id);
00153 
00161   const sensor_msgs::PointCloud2 &getPointCloud() const;
00162 
00170   sensor_msgs::PointCloud2 &getPointCloud();
00171 
00179   void setPointCloud(const sensor_msgs::PointCloud2 &point_cloud);
00180 
00188   const sensor_msgs::Image &getImage() const;
00189 
00197   sensor_msgs::Image &getImage();
00198 
00206   void setImage(const sensor_msgs::Image &image);
00207 
00213   rail_pick_and_place_msgs::GraspDemonstration toROSGraspDemonstrationMessage() const;
00214 
00215 private:
00217   std::string object_name_, eef_frame_id_;
00219   Pose grasp_pose_;
00221   sensor_msgs::PointCloud2 point_cloud_;
00223   sensor_msgs::Image image_;
00224 };
00225 
00226 }
00227 }
00228 }
00229 
00230 #endif


graspdb
Author(s): Russell Toris
autogenerated on Sun Mar 6 2016 11:38:59