.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_components_cp_grasping_objects.hpp:

Program Listing for File cp_grasping_objects.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_components_cp_grasping_objects.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/move_group_interface_client/include/move_group_interface_client/components/cp_grasping_objects.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    *****************************************************************************************************************/
   
   #pragma once
   
   #include <map>
   #include <moveit_msgs/msg/collision_object.hpp>
   #include <smacc2/component.hpp>
   #include <smacc2/smacc.hpp>
   
   namespace cl_move_group_interface
   {
   class CpGraspingComponent : public smacc2::ISmaccComponent
   {
   private:
     std::map<std::string, moveit_msgs::msg::CollisionObject> graspingObjects;
   
   public:
     std::vector<std::string> fingerTipNames;
     std::string gripperLink_ = "gripper_link";
   
     std::optional<std::string> currentAttachedObjectName;
   
     bool getGraspingObject(std::string name, moveit_msgs::msg::CollisionObject & object);
   
     void createGraspableBox(
       std::string frameid, float x, float y, float z, float xl, float yl, float zl);
   };
   
   }  // namespace cl_move_group_interface