GraspObjectUtil.h

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#pragma once
 
// ArmarX
#include <RobotAPI/libraries/skills/provider/mixins/All.h>
 
namespace armarx::skills
{
    namespace grasp_control::util
    {
        struct SelectBestKinematicChainForObjectGraspInput
        {
            armarx::objpose::ObjectPose& objectPose;
 
            VirtualRobot::Robot& synchronizedRobot;
        };
 
        struct SelectBestKinematicChainForObjectGraspOutput
        {
            std::string tcpName;
            std::string kinematicChainName;
            float distanceToObject;
        };
 
        SelectBestKinematicChainForObjectGraspOutput SelectBestKinematicChainForObjectGrasp(
            const SelectBestKinematicChainForObjectGraspInput& in);
 
        struct SelectBestGraspSetForObjectInput
        {
            armem::grasping::arondto::KnownGraspInfo& graspInfo;
            std::string tcpName;
        };
 
        struct SelectBestGraspSetForObjectOutput
        {
            std::string graspSetName;
            armarx::armem::grasping::arondto::KnownGraspSet graspSet;
        };
 
        SelectBestGraspSetForObjectOutput
        SelectBestGraspSetForObject(const SelectBestGraspSetForObjectInput& in);
 
        struct GetPlatformOffsetForObjectGraspInput
        {
            armarx::objpose::ObjectPose& objectPose;
 
            VirtualRobot::Robot& synchronizedRobot;
            std::string tcpName;
        };
 
        struct GetPlatformOffsetForObjectGraspOutput
        {
            Eigen::Matrix4f platformGlobalPose;
            float distanceToDrive;
        };
 
        GetPlatformOffsetForObjectGraspOutput
        GetGlobalPlatformPoseForObjectGrasp(const GetPlatformOffsetForObjectGraspInput& in);
 
        struct GetPlatformOffsetAfterObjectGraspInput
        {
            VirtualRobot::Robot& synchronizedRobot;
        };
 
        struct GetPlatformOffsetAfterObjectGraspOutput
        {
            Eigen::Matrix4f platformGlobalPose;
            float distanceToDrive;
        };
 
        GetPlatformOffsetAfterObjectGraspOutput
        GetGlobalPlatformPoseAfterObjectGrasp(const GetPlatformOffsetAfterObjectGraspInput& in);
    } // namespace grasp_control::util
} // namespace armarx::skills