GraspDemonstration.h

Go to the documentation of this file.

#ifndef RAIL_PICK_AND_PLACE_GRASPDB_GRASP_DEMONSTRATION_H_
#define RAIL_PICK_AND_PLACE_GRASPDB_GRASP_DEMONSTRATION_H_

// graspdb
#include "Entity.h"
#include "Pose.h"

// ROS
#include <rail_pick_and_place_msgs/GraspDemonstration.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>

// C++ Standard Library
#include <string>

namespace rail
{
namespace pick_and_place
{
namespace graspdb
{

class GraspDemonstration : public Entity
{
public:
  GraspDemonstration(const uint32_t id = Entity::UNSET_ID, const std::string &object_name = "",
                     const Pose &grasp_pose = Pose(), const std::string &eef_frame_id = "",
                     const sensor_msgs::PointCloud2 &point_cloud = sensor_msgs::PointCloud2(),
                     const sensor_msgs::Image &image = sensor_msgs::Image(), const time_t created = Entity::UNSET_TIME);

  GraspDemonstration(const std::string &object_name, const Pose &grasp_pose, const std::string &eef_frame_id,
                     const sensor_msgs::PointCloud2 &point_cloud, const sensor_msgs::Image &image);

  GraspDemonstration(const rail_pick_and_place_msgs::GraspDemonstration &gd);

  const std::string &getObjectName() const;

  void setObjectName(const std::string &object_name);

  const Pose &getGraspPose() const;

  Pose &getGraspPose();

  void setGraspPose(const Pose &grasp_pose);

  const std::string &getEefFrameID() const;

  void setEefFrameID(const std::string &eef_frame_id);

  const sensor_msgs::PointCloud2 &getPointCloud() const;

  sensor_msgs::PointCloud2 &getPointCloud();

  void setPointCloud(const sensor_msgs::PointCloud2 &point_cloud);

  const sensor_msgs::Image &getImage() const;

  sensor_msgs::Image &getImage();

  void setImage(const sensor_msgs::Image &image);

  rail_pick_and_place_msgs::GraspDemonstration toROSGraspDemonstrationMessage() const;

private:
  std::string object_name_, eef_frame_id_;
  Pose grasp_pose_;
  sensor_msgs::PointCloud2 point_cloud_;
  sensor_msgs::Image image_;
};

}
}
}

#endif