GazeboGraspGripper.h

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//
// Created by tom on 19/09/16.
//

#ifndef ROBOTICAN_COMMON_GAZEBOGRASPGRIPPER_H_H
#define ROBOTICAN_COMMON_GAZEBOGRASPGRIPPER_H_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 //ROBOTICAN_COMMON_GAZEBOGRASPGRIPPER_H_H