#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <object_manipulation_tools/grasp_planners/GraspPlannerInterface.h>
#include <XmlRpc.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>

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Classes
class	OverheadGraspPlanner
struct	OverheadGraspPlanner::ParameterVals
Variables
const std::string	GRASP_PLANNER_NAME = "OverheadGraspPlanner"
const tf::Vector3	PARAM_DEFAULT_APPROACH_VECTOR = tf::Vector3(0.0f,0.0f,-1.0f)
const bool	PARAM_DEFAULT_GRASP_IN_WORLD_COORDINATES = true
const int	PARAM_DEFAULT_NUM_CANDIDATE_GRASPS = 8
const double	PARAM_DEFAULT_PLANE_PROXIMITY_THRESHOLD = 0.005
const double	PARAM_DEFAULT_PREGRASP_DISTANCE = 0.1f
const double	PARAM_DEFAULT_SEARCH_RADIUS = 0.005
const std::string	PARAM_NAME_APPROACH_VECTOR = "/approach_vector"
const std::string	PARAM_NAME_DEFAULT_PREGRASP_DISTANCE = "/default_pregrasp_distance"
const std::string	PARAM_NAME_GRASP_IN_WORLD_COORDINATES = "grasp_pose_in_world_coordinates"
const std::string	PARAM_NAME_NUM_CANDIDATE_GRASPS = "/num_returned_candidate_grasps"
const std::string	PARAM_NAME_PLANE_PROXIMITY_THRESHOLD = "/plane_proximity_threshold"
const std::string	PARAM_NAME_SEARCH_RADIUS = "/search_radius"
const int	SEARCH_MAX_CLUSTER_SIZE = 5000
const int	SEARCH_MIN_CLUSTER_SIZE = 50.0f