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