pick: expose IK link frame as eef_frame

This commit is contained in:
Robert Haschke 2018-02-27 23:05:28 +01:00
parent 1c61fb3b85
commit 2331c9aef2

View File

@ -17,8 +17,10 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name)
: SerialContainer(name)
{
PropertyMap& p = properties();
p.declare<std::string>("eef", "end effector name");
p.declare<std::string>("object", "name of object to grasp");
p.declare<std::string>("eef", "end effector name");
p.declare<std::string>("eef_frame", "name of end effector frame");
// internal properties (cannot be marked as such yet)
p.declare<std::string>("eef_group", "JMG of eef");
p.declare<std::string>("eef_parent_group", "JMG of eef's parent");
@ -47,6 +49,7 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name)
auto approach = std::make_unique<MoveRelative>("approach object", cartesian_solver_);
PropertyMap& p = approach->properties();
p.property("group").configureInitFrom(Stage::PARENT, "eef_parent_group");
p.property("link").configureInitFrom(Stage::PARENT, "eef_frame");
p.set("marker_ns", std::string("approach"));
approach_stage_ = approach.get();
insert(std::move(approach));
@ -60,6 +63,7 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name)
auto lift = std::make_unique<MoveRelative>("lift object", cartesian_solver_);
PropertyMap& p = lift->properties();
p.property("group").configureInitFrom(Stage::PARENT, "eef_parent_group");
p.property("link").configureInitFrom(Stage::PARENT, "eef_frame");
p.set("marker_ns", std::string("lift"));
lift_stage_ = lift.get();
insert(std::move(lift));