Program Listing for File trajectory_blend_request.h

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#pragma once

#include <string>

#include <moveit/robot_trajectory/robot_trajectory.h>

namespace pilz_industrial_motion_planner
{
struct TrajectoryBlendRequest
{
  // The name of the group of joints on which this blender is operating
  std::string group_name;

  // The name of the target link on which this blender is operating
  std::string link_name;

  // Robot trajectories to be blended
  robot_trajectory::RobotTrajectoryPtr first_trajectory;
  robot_trajectory::RobotTrajectoryPtr second_trajectory;

  // Blend radius in meter
  double blend_radius;
};

}  // namespace pilz_industrial_motion_planner