GraspRetriever.h
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00001 
00013 #ifndef RAIL_PICK_AND_PLACE_GRASP_RETRIEVER_H_
00014 #define RAIL_PICK_AND_PLACE_GRASP_RETRIEVER_H_
00015 
00016 // ROS
00017 #include <actionlib/server/simple_action_server.h>
00018 #include <graspdb/graspdb.h>
00019 #include <rail_pick_and_place_msgs/RetrieveGraspDemonstrationAction.h>
00020 #include <ros/ros.h>
00021 
00022 namespace rail
00023 {
00024 namespace pick_and_place
00025 {
00026 
00034 class GraspRetriever
00035 {
00036 public:
00042   GraspRetriever();
00043 
00049   virtual ~GraspRetriever();
00050 
00058   bool okay() const;
00059 
00060 private:
00068   void retrieveGrasp(const rail_pick_and_place_msgs::RetrieveGraspDemonstrationGoalConstPtr &goal);
00069 
00071   bool okay_;
00073   graspdb::Client *graspdb_;
00074 
00076   ros::NodeHandle node_, private_node_;
00078   actionlib::SimpleActionServer<rail_pick_and_place_msgs::RetrieveGraspDemonstrationAction> as_;
00080   ros::Publisher point_cloud_pub_, pose_pub_;
00081 };
00082 
00083 }
00084 }
00085 
00086 #endif


rail_grasp_collection
Author(s): Russell Toris , David Kent
autogenerated on Thu Jun 6 2019 19:44:05