grasp_executor.h

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// Author(s): Matei Ciocarlie

#ifndef _GRASP_EXECUTOR_H_
#define _GRASP_EXECUTOR_H_

#include <ros/ros.h>

#include "object_manipulation_msgs/GraspResult.h"
#include "object_manipulation_msgs/PickupGoal.h"

#include "object_manipulator/tools/mechanism_interface.h"
#include "object_manipulator/tools/grasp_marker_publisher.h"

namespace object_manipulator {


class GraspExecutor
{
 public:
  object_manipulation_msgs::GraspResult Result(int result_code, bool continuation)
  {
    object_manipulation_msgs::GraspResult result;
    result.result_code = result_code;
    result.continuation_possible = continuation;
    return result;
  }
  
 protected:

  GraspMarkerPublisher *marker_publisher_;

  unsigned int marker_id_;

  trajectory_msgs::JointTrajectory interpolated_lift_trajectory_; 

  object_manipulation_msgs::GraspResult 
    getInterpolatedIKForLift(const object_manipulation_msgs::PickupGoal &pickup_goal,
                             const object_manipulation_msgs::Grasp &grasp,
                             const std::vector<double> &grasp_joint_angles,
                             trajectory_msgs::JointTrajectory &lift_trajectory);

  arm_navigation_msgs::OrderedCollisionOperations 
    collisionOperationsForLift(const object_manipulation_msgs::PickupGoal &pickup_goal);

  std::vector<arm_navigation_msgs::LinkPadding> 
    linkPaddingForLift(const object_manipulation_msgs::PickupGoal &pickup_goal);

  std::vector<arm_navigation_msgs::LinkPadding> 
    fingertipPadding(const object_manipulation_msgs::PickupGoal &pickup_goal, double pad);

  virtual object_manipulation_msgs::GraspResult 
    prepareGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
                 const object_manipulation_msgs::Grasp &grasp) = 0;


  virtual object_manipulation_msgs::GraspResult
    executeGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
                 const object_manipulation_msgs::Grasp &grasp) = 0;

 public:

  GraspExecutor(GraspMarkerPublisher *pub) : marker_publisher_(pub)
  {}
  virtual ~GraspExecutor() {}
  
  /* Returns SUCCESS if the grasp was successfully executed, UNFEASIBLE if it fails without
     affecting the environment (generally during move_arm stages) or FAILED if it fails and might
     have affected the object (generally during the final grasp stage).
  
   Calls prepareGrasp(), and if prepareGrasp() returns true, it calls executeGrasp() and returns its result.
  */  
  object_manipulation_msgs::GraspResult 
    checkAndExecuteGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
                         const object_manipulation_msgs::Grasp &grasp);
  

  virtual object_manipulation_msgs::GraspResult 
  retreat(const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
  {
    ROS_WARN("This grasp executor has no retreat capability");
    return Result(object_manipulation_msgs::GraspResult::RETREAT_FAILED, false);
  }


  virtual object_manipulation_msgs::GraspResult lift(const object_manipulation_msgs::PickupGoal &pickup_goal);
};

} //namespace grasp_execution

#endif