text: /*
   * 	grasp.hpp
   *
   *	Author(s): Tamas D. Nagy
   *	Created on: 2017-11-08
   *
   *  Grasp the object received in the topic 'saf/vision/target'.
   *
   */
  
  #ifndef GRASP_HPP_
  #define GRASP_HPP_
  
  #include <iostream>
  #include <sstream>
  #include <vector>
  #include <map>
  #include <cmath>
  #include <ros/ros.h>
  #include <ros/package.h>
  #include <cmath>
  #include <limits>
  
  #include <Eigen/Dense>
  #include <Eigen/Geometry> 
  
  #include <geometry_msgs/Point.h>
  
  #include <irob_utils/tool_pose.hpp>
  #include <irob_utils/utils.hpp>
  #include <irob_utils/abstract_directions.hpp>
  #include <irob_motion/surgeme_client.hpp>
  #include <irob_vision_support/vision_client.hpp>
  
  #include <irob_subtask_logic/autosurg_agent.hpp>
  
  
  namespace saf {
  
  class Grasp : public AutosurgAgent {
  
  
  protected:
  
    VisionClient<geometry_msgs::Transform, Eigen::Affine3d> vision;
  
  
  public:
    Grasp(ros::NodeHandle, ros::NodeHandle priv_nh, std::vector<std::string>);
    ~Grasp();
    void graspObject();
  
  };
  
  }
  #endif /* GRASP_HPP_ */
  