GazeboGraspGripper.h

Go to the documentation of this file.

#ifndef GAZEBO_GAZEBOGRASPGRIPPER_H
#define GAZEBO_GAZEBOGRASPGRIPPER_H

#include <boost/bind.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <stdio.h>

namespace gazebo
{

class GazeboGraspGripper
{
  public:
    GazeboGraspGripper();
    GazeboGraspGripper(const GazeboGraspGripper &o);
    virtual ~GazeboGraspGripper();

    bool Init(physics::ModelPtr &_model,
              const std::string &_gripperName,
              const std::string &palmLinkName,
              const std::vector<std::string> &fingerLinkNames,
              bool _disableCollisionsOnAttach,
              std::map<std::string, physics::CollisionPtr> &_collisions);

    const std::string &getGripperName() const;

    bool hasLink(const std::string &linkName) const;

    bool hasCollisionLink(const std::string &linkName) const;

    bool isObjectAttached() const;

    const std::string &attachedObject() const;

    bool HandleAttach(const std::string &objName);
    void HandleDetach(const std::string &objName);

  private:

    physics::ModelPtr model;

    // name of the gripper
    std::string gripperName;

    // names of the gripper links
    std::vector<std::string> linkNames;
    // names and Collision objects of the collision links in Gazebo (scoped names)
    // Not necessarily equal names and size to linkNames.
    std::map<std::string, physics::CollisionPtr> collisionElems;

    physics::JointPtr fixedJoint;

    physics::LinkPtr palmLink;

    // when an object is attached, collisions with it may be disabled, in case the
    // robot still keeps wobbling.
    bool disableCollisionsOnAttach;

    // flag holding whether an object is attached. Object name in \e attachedObjName
    bool attached;
    // name of the object currently attached.
    std::string attachedObjName;
};

}
#endif  // GAZEBO_GAZEBOGRASPGRIPPER_H