Grasp.hh

Go to the documentation of this file.

#ifndef _GRASP_HH_
#define _GRASP_HH_

// Gazebo
#include <gazebo/gazebo_client.hh>
// Open YAML config files
#include "yaml-cpp/yaml.h"
// Debug streams
#include "debug.hh"

class Grasp
{
    // Public attributes

    public: std::string name;
    public: ignition::math::Matrix4d t_gripper_object;
    public: double metric {false};

    public: Grasp();
    public: Grasp(ignition::math::Matrix4d t_gripper_object_);

    public: static void loadFromYml(
        const std::string & file_name,
        const std::string & robot,
        const std::string & object_name,
        std::vector<Grasp> & grasps);

    public: static void writeToYml(
        const std::string & file_name,
        const std::string & robot,
        const std::string & object_name,
        const std::vector<Grasp> & grasps);
};

#endif