5 #ifndef ROBOTICAN_COMMON_GAZEBOGRASPFIX_H 6 #define ROBOTICAN_COMMON_GAZEBOGRASPFIX_H 8 #include <boost/bind.hpp> 9 #include <gazebo/gazebo.hh> 10 #include <gazebo/physics/physics.hh> 11 #include <gazebo/common/common.hh> 12 #include <gazebo/transport/TransportTypes.hh> 105 virtual void OnAttach(
const std::string& objectName,
const std::string& armName){}
109 virtual void OnDetach(
const std::string& objectName,
const std::string& armName){}
113 virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
153 void OnContact(
const ConstContactsPtr& ptr);
160 bool checkGrip(
const std::vector<math::Vector3>& forces,
float minAngleDiff,
float lengthRatio);
162 bool isGripperLink(
const std::string& linkName, std::string& gripperName)
const;
191 std::map<std::string, GazeboGraspGripper>
grippers;
219 std::map<std::string, std::map<std::string, CollidingPoint> >
contacts;
259 #endif //ROBOTICAN_COMMON_GAZEBOGRASPFIX_H
bool isGripperLink(const std::string &linkName, std::string &gripperName) const
std::map< std::string, std::string > collisions
std::map< std::string, std::map< std::string, CollidingPoint > > attachGripContacts
common::Time prevUpdateTime
bool checkGrip(const std::vector< math::Vector3 > &forces, float minAngleDiff, float lengthRatio)
virtual void OnDetach(const std::string &objectName, const std::string &armName)
float forcesAngleTolerance
virtual void OnAttach(const std::string &objectName, const std::string &armName)
std::map< std::string, int > gripCounts
void OnContact(const ConstContactsPtr &ptr)
std::map< std::string, GazeboGraspGripper > grippers
std::map< std::string, std::map< std::string, CollidingPoint > > contacts
bool disableCollisionsOnAttach
bool objectAttachedToGripper(const ObjectContactInfo &objContInfo, std::string &attachedToGripper) const
virtual ~GazeboGraspFix()
boost::mutex mutexContacts
event::ConnectionPtr update_connection
transport::SubscriberPtr contactSub
std::map< std::string, std::string > getAttachedObjects() const
virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)