From e39753f66a5f9b932f700e339a91d15b446bfeed Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 12 Apr 2022 12:58:43 +0200
Subject: [PATCH] fix visibility
---
include/grasp_util.h | 15 +++++++--------
1 file changed, 7 insertions(+), 8 deletions(-)
diff --git a/include/grasp_util.h b/include/grasp_util.h
index aaa7e2f..1403f64 100644
--- a/include/grasp_util.h
+++ b/include/grasp_util.h
@@ -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
--
GitLab