simple_grasp_executor.h

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// Author(s): Matei Ciocarlie

#ifndef _SIMPLE_GRASP_EXECUTOR_H_
#define _SIMPLE_GRASP_EXECUTOR_H_

#include "object_manipulator/grasp_execution/grasp_executor.h"

namespace object_manipulator {


class SimpleGraspExecutor : public GraspExecutor
{
 private:
  kinematics_msgs::GetConstraintAwarePositionIK::Response ik_response_;

  virtual object_manipulation_msgs::GraspResult
    prepareGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
                 const object_manipulation_msgs::Grasp &grasp);

  virtual object_manipulation_msgs::GraspResult
    executeGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
                 const object_manipulation_msgs::Grasp &grasp);
 public:
 SimpleGraspExecutor(GraspMarkerPublisher *pub) : GraspExecutor(pub) {}

};

} //namespace grasp execution

#endif