shape_grasp_planner.h

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/*
 * Copyright 2015, Fetch Robotics Inc.
 * Copyright 2013-2014, Unbounded Robotics Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
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 *       documentation and/or other materials provided with the distribution.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// Author: Michael Ferguson
 
#ifndef SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H
#define SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H
 
#include <ros/ros.h>
#include <grasping_msgs/GraspableObject.h>
 
namespace simple_grasping
{
 
class ShapeGraspPlanner
{
public:
  ShapeGraspPlanner(ros::NodeHandle& nh);
 
  virtual int plan(const grasping_msgs::Object& object,
                   std::vector<moveit_msgs::Grasp>& grasps);
 
private:
  int createGrasp(const geometry_msgs::PoseStamped& pose,
                  double gripper_opening,
                  double gripper_pitch,
                  double x_offset,
                  double z_offset,
                  double quality);
 
  int createGraspSeries(const geometry_msgs::PoseStamped& pose,
                        double depth, double width, double height,
                        bool use_vertical = true);
 
  trajectory_msgs::JointTrajectory makeGraspPosture(double pose);
 
  // gripper model
  std::string left_joint_, right_joint_;
  double max_opening_;
  double max_effort_;
  double grasp_duration_;
  double tool_offset_;
  double finger_depth_;
  double gripper_tolerance_;
 
  // approach model
  std::string approach_frame_;
  double approach_min_translation_;
  double approach_desired_translation_;
 
  // retreat model
  std::string retreat_frame_;
  double retreat_min_translation_;
  double retreat_desired_translation_;
 
  // storing of internal grasps as we generate them
  std::vector<moveit_msgs::Grasp> grasps_;
};
 
}  // namespace simple_grasping
 
#endif  // SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H