cp_grasping_objects.h

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#pragma once
 
#include <smacc/smacc.h>
#include <smacc/component.h>
#include <moveit_msgs/CollisionObject.h>
#include <map>
 
namespace cl_move_group_interface
{
   class GraspingComponent : public smacc::ISmaccComponent
   {
   private:
      std::map<std::string, moveit_msgs::CollisionObject> graspingObjects;
 
   public:
      std::vector<std::string> fingerTipNames;
 
      boost::optional<std::string> currentAttachedObjectName;
 
      bool getGraspingObject(std::string name, moveit_msgs::CollisionObject &object);
 
      void createGraspableBox(std::string frameid, float x, float y, float z, float xl, float yl, float zl);
   };
 
} // namespace cl_move_group_interface