Hand.hpp

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#ifndef AIKIDO_ROBOT_HAND_HPP_
#define AIKIDO_ROBOT_HAND_HPP_
 
#include <set>
#include <string>
#include <unordered_map>
 
#include <dart/dart.hpp>
 
#include "aikido/control/PositionCommandExecutor.hpp"
#include "aikido/io/yaml.hpp"
#include "aikido/robot/GrabMetadata.hpp"
 
namespace aikido {
namespace robot {
 
AIKIDO_DECLARE_POINTERS(Hand)
 
class Hand
{
public:
  virtual ~Hand() = default;
 
  virtual void grab(const dart::dynamics::SkeletonPtr& bodyToGrab) = 0;
 
  virtual void ungrab() = 0;
 
  virtual std::future<void> executePreshape(const std::string& preshapeName)
      = 0;
 
  virtual void step(const std::chrono::system_clock::time_point& timepoint) = 0;
 
  virtual dart::dynamics::ConstMetaSkeletonPtr getMetaSkeleton() const = 0;
 
  virtual dart::dynamics::MetaSkeletonPtr getMetaSkeleton() = 0;
 
  virtual dart::dynamics::BodyNode* getEndEffectorBodyNode() const = 0;
 
  virtual dart::dynamics::BodyNode* getHandBaseBodyNode() const = 0;
};
 
} // namespace robot
} // namespace aikido
 
#endif // AIKIDO_ROBOT_HAND_HPP_