Grasp.h
Go to the documentation of this file.
00001 
00014 #ifndef RAIL_PICK_AND_PLACE_GRASPDB_GRASP_H_
00015 #define RAIL_PICK_AND_PLACE_GRASPDB_GRASP_H_
00016 
00017 // graspdb
00018 #include "Entity.h"
00019 #include "Pose.h"
00020 
00021 // ROS
00022 #include <rail_pick_and_place_msgs/GraspWithSuccessRate.h>
00023 
00024 // C++ Standard Library
00025 #include <string>
00026 
00027 namespace rail
00028 {
00029 namespace pick_and_place
00030 {
00031 namespace graspdb
00032 {
00033 
00043 class Grasp : public Entity
00044 {
00045 public:
00059   Grasp(const uint32_t id = Entity::UNSET_ID, const uint32_t grasp_model_id = Entity::UNSET_ID,
00060       const Pose &grasp_pose = Pose(), const std::string &eef_frame_id = "", const uint32_t successes = 0,
00061       const uint32_t attempts = 0, const time_t created = Entity::UNSET_TIME);
00062 
00075   Grasp(const Pose &grasp_pose, const uint32_t grasp_model_id, const std::string &eef_frame_id,
00076       const uint32_t successes, const uint32_t attempts);
00077 
00087   Grasp(const rail_pick_and_place_msgs::GraspWithSuccessRate &g, const uint32_t grasp_model_id);
00088 
00096   uint32_t getGraspModelID() const;
00097 
00105   void setGraspModelID(const uint32_t grasp_model_id);
00106 
00114   const Pose &getGraspPose() const;
00115 
00123   Pose &getGraspPose();
00124 
00132   void setGraspPose(const Pose &grasp_pose);
00133 
00141   const std::string &getEefFrameID() const;
00142 
00150   void setEefFrameID(const std::string &eef_frame_id);
00151 
00159   uint32_t getSuccesses() const;
00160 
00168   void setSuccesses(const uint32_t successes);
00169 
00177   uint32_t getAttempts() const;
00178 
00186   void setAttempts(const uint32_t attempts);
00187 
00195   double getSuccessRate() const;
00196 
00202   rail_pick_and_place_msgs::GraspWithSuccessRate toROSGraspWithSuccessRateMessage() const;
00203 
00204 private:
00206   uint32_t grasp_model_id_;
00208   std::string eef_frame_id_;
00210   Pose grasp_pose_;
00212   uint32_t successes_, attempts_;
00213 };
00214 
00215 }
00216 }
00217 }
00218 
00219 #endif


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