unsafe_grasp_executor.h

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#ifndef _UNSAFE_GRASP_EXECUTOR_H_
#define _UNSAFE_GRASP_EXECUTOR_H_

#include "object_manipulator/grasp_execution/reactive_grasp_executor.h"

namespace object_manipulator {


class UnsafeGraspExecutor : public ReactiveGraspExecutor
{
 protected:

  // or non-reactive grasping to grasp
  virtual object_manipulation_msgs::GraspResult 
    executeGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
                 const object_manipulation_msgs::Grasp &grasp);

  virtual arm_navigation_msgs::OrderedCollisionOperations 
    collisionOperationsForGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal);

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

 public:
  UnsafeGraspExecutor(GraspMarkerPublisher *pub) : ReactiveGraspExecutor(pub) {}

};

} //namespace object_manipulator

#endif