libmove3d: /home/slemaign/softs-local/BioMove3D-git/lightPlanner/proto/ManipulationStruct.h Source File

libmove3d 3.13.0
00001 #ifndef __MANIPULATIONSTRUCT_H__
00002 #define __MANIPULATIONSTRUCT_H__
00003 
00004 #include <vector>
00005 
00008 typedef enum MANIPULATION_TASK_TYPE_STR {
00009   ARM_FREE = 1, 
00010   ARM_PICK_GOTO = 2,  
00011   ARM_TAKE_TO_FREE = 3,  
00012   ARM_TAKE_TO_PLACE = 4,  
00013   ARM_PLACE_FROM_FREE = 5, 
00014   ARM_EXTRACT = 6, 
00015   ARM_ESCAPE_OBJECT = 7 
00016 //   ARM_PICK_AND_PLACE = 6, /*!< move the arm from a free configuration to a grasping configuration of the object placed on a support then to a placement configuration */
00017 //      ARM_PICK_GOTO_AND_TAKE_TO_FREE = 7,
00018 //   ARM_PICK_TAKE_TO_FREE_POINT = 8
00019 } MANIPULATION_TASK_TYPE_STR;
00020 
00021 
00022 
00025 typedef enum MANIPULATION_TASK_MESSAGE {
00026   MANIPULATION_TASK_OK, 
00027   MANIPULATION_TASK_NOT_INITIALIZED,  
00028   MANIPULATION_TASK_NO_TRAJ_FOUND,  
00029   MANIPULATION_TASK_INVALID_QSTART,
00030   MANIPULATION_TASK_INVALID_QGOAL,
00031   MANIPULATION_TASK_INVALID_TRAJ_ID,
00032   MANIPULATION_TASK_INVALID_TASK,  
00033   MANIPULATION_TASK_UNKNOWN_OBJECT, 
00034   MANIPULATION_TASK_NO_GRASP, 
00035   MANIPULATION_TASK_NO_PLACE,  
00036   MANIPULATION_TASK_ERROR_UNKNOWN, 
00037   MANIPULATION_TASK_EQUAL_QSTART_QGOAL 
00038 } MANIPULATION_TASK_MESSAGE;
00039 
00042 typedef enum MANIPULATION_ARM_STATE
00043 {
00044         handFree,
00045         holdingObjectInStablePose,
00046         holdingObjectInFlyingPose
00047         
00048 } MANIPULATION_ARM_STATE;
00049 
00050 
00051 typedef std::pair < std::vector<int>, std::vector < std::vector <double> > > MANPIPULATION_TRAJECTORY_CONF_STR;
00052 //   std::vector<int> &lp;
00053 //   std::vector < std::vector <double> > &positions;
00054 // }MANPIPULATION_TRAJECTORY_CONF_STR;
00055 
00056 #endif