Class CbMoveJoints

Defined in File cb_move_joints.hpp

Inheritance Relationships

Base Type

public smacc2::SmaccAsyncClientBehavior

Derived Type

public cl_moveit2z::CbMoveKnownState (Class CbMoveKnownState)

Class Documentation

class CbMoveJoints : public smacc2::SmaccAsyncClientBehavior

Subclassed by cl_moveit2z::CbMoveKnownState

Public Functions

inline CbMoveJoints()

inline CbMoveJoints(const std::map<std::string, double> &jointValueTarget)

inline virtual void onEntry() override

inline virtual void onExit() override

Public Members

std::optional<double> scalingFactor_

std::map<std::string, double> jointValueTarget_

std::optional<std::string> group_

Protected Functions

inline void moveJoints(moveit::planning_interface::MoveGroupInterface &moveGroupInterface)

Protected Attributes

ClMoveit2z *movegroupClient_

Protected Static Functions

static inline std::string currentJointStatesToString(moveit::planning_interface::MoveGroupInterface &moveGroupInterface, std::map<std::string, double> &targetJoints)