PutdownObjectUtil.h

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#pragma once
 
// ArmarX
#include <RobotAPI/libraries/skills/provider/mixins/All.h>
 
namespace armarx::skills
{
    namespace grasp_control::util
    {
        struct GetPlatformOffsetForObjectPutdownInput
        {
            VirtualRobot::Robot& synchronizedRobot;
            std::string tcpName;
        };
 
        struct GetPlatformOffsetForObjectPutdownOutput
        {
            Eigen::Matrix4f platformGlobalPose;
            float distanceToDrive;
        };
 
        GetPlatformOffsetForObjectPutdownOutput
        GetGlobalPlatformPoseForObjectPutdown(const GetPlatformOffsetForObjectPutdownInput& in);
 
        struct GetPlatformOffsetAfterObjectPutdownInput
        {
            VirtualRobot::Robot& synchronizedRobot;
        };
 
        struct GetPlatformOffsetAfterObjectPutdownOutput
        {
            Eigen::Matrix4f platformGlobalPose;
            float distanceToDrive;
        };
 
        GetPlatformOffsetAfterObjectPutdownOutput
        GetGlobalPlatformPoseAfterObjectPutdown(const GetPlatformOffsetAfterObjectPutdownInput& in);
    } // namespace grasp_control::util
} // namespace armarx::skills