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Commit e39753f6 authored by Johannes Mey's avatar Johannes Mey
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fix visibility

parent e469e0bb
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1 merge request!2Feature/public grasp side
......@@ -161,6 +161,13 @@ public:
bool placeFromSide(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &place_pose,
double open_amount, std::string supporting_surface_id, std::string object_to_place_id, bool plan_only = false);
/**
* Homes the gripper (in case it was abused before and is in an inconsistent state)
* This method is blocking with a maximum runtime of ~30s
* @return true if homing succeeded, false otherwise
*/
static bool homeGripper();
private:
/**
......@@ -179,12 +186,4 @@ private:
tf2::Quaternion approach_orientation, float y_distance_diff, float x_distance_diff, double reach = FRANKA_GRIPPER_FINGERTIP_SIZE / 2);
};
/**
* Homes the gripper (in case it was abused before and is in an inconsistent state)
* This method is blocking with a maximum runtime of ~30s
* @return true if homing succeeded, false otherwise
*/
static bool homeGripper();
#endif //PANDA_GRASPING_GRASP_UTIL_H
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