Unit 5 grasping, questions regarding cpp

These are realtive unisiginificant questions, but i’m really concerned abt that

1.in line 42, why we can use the msg moveit_msgs::GripperTranslation to define a function, i think it’s never included or import before.

2.in line 119,why we can directly use the function makeGraspPosture(), i’m pretty sure it’s never defined before, the only rational explanation i figure out is that the source file include it’ s own header file, but i’m still confused abt how evertything works.

Any help is really appreciated.

they are both not defined on the header file and the system cant identify them as built in function

yes they’re not defined,
but the code is provided by the course, i think it should work