Class CpGraspingComponent

• Defined in File cp_grasping_objects.hpp

Inheritance Relationships

Base Type

• public smacc2::ISmaccComponent

Class Documentation

class CpGraspingComponent : public smacc2::ISmaccComponent

Public Functions

bool getGraspingObject(std::string name, moveit_msgs::msg::CollisionObject &object)

void createGraspableBox(std::string frameid, float x, float y, float z, float xl, float yl, float zl)

Public Members

std::vector<std::string> fingerTipNames

std::string gripperLink_ = "gripper_link"

std::optional<std::string> currentAttachedObjectName