file name change

Author: bostoncleek

core/include/moveit/task_constructor/stages/gpd_generator.h

@@ -0,0 +1,92 @@
+/*********************************************************************
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2020 PickNik LLC.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of the copyright holder nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+ /* Author: Boston Cleek
+    Desc:   Grasp generator stage using deep learning based grasp synthesizers
+ */
+
+ #pragma once
+
+ #include <moveit/task_constructor/stages/generate_pose.h>
+
+ #include <memory>
+
+ #include <moveit_task_constructor_msgs/GenerateDeepGraspPoseAction.h>
+ #include <actionlib/client/simple_action_client.h>
+ // #include <actionlib/action_definition.h>
+
+ namespace moveit {
+ namespace task_constructor {
+ namespace stages {
+
+ template<class ActionSpec>
+ class ActionStageBase
+ {
+ private:
+   ACTION_DEFINITION(ActionSpec);
+
+ public:
+   ActionStageBase()
+   {
+     clientPtr_.reset(new actionlib::SimpleActionClient<ActionSpec>("topic_name", true));
+   }
+   // void feedbackCallback(const FeedbackConstPtr &feedback);
+
+protected:
+  std::unique_ptr<actionlib::SimpleActionClient<ActionSpec>> clientPtr_;
+};
+
+
+ class DeepGraspPose : public GeneratePose
+ {
+ public:
+ 	DeepGraspPose(const std::string& name = "generate grasp pose");
+
+ 	void init(const core::RobotModelConstPtr& robot_model) override;
+ 	void compute() override;
+
+ 	void setEndEffector(const std::string& eef) { setProperty("eef", eef); }
+ 	void setObject(const std::string& object) { setProperty("object", object); }
+
+ 	void setPreGraspPose(const std::string& pregrasp) { properties().set("pregrasp", pregrasp); }
+ 	void setPreGraspPose(const moveit_msgs::RobotState& pregrasp) { properties().set("pregrasp", pregrasp); }
+ 	void setGraspPose(const std::string& grasp) { properties().set("grasp", grasp); }
+ 	void setGraspPose(const moveit_msgs::RobotState& grasp) { properties().set("grasp", grasp); }
+
+ protected:
+ 	void onNewSolution(const SolutionBase& s) override;
+
+  actionlib::SimpleActionClient<moveit_task_constructor_msgs::GenerateDeepGraspPoseAction> client_;
+ };
+ }  // namespace stages
+ }  // namespace task_constructor
+ }  // namespace moveit