Program Listing for File motioncmd.h
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#pragma once
#include <string>
#include <memory>
#include "motionplanrequestconvertible.h"
namespace pilz_industrial_motion_planner_testutils
{
class MotionCmd : public MotionPlanRequestConvertible
{
public:
MotionCmd() : MotionPlanRequestConvertible()
{
}
public:
void setPlanningGroup(const std::string& planning_group);
const std::string& getPlanningGroup() const;
void setVelocityScale(double velocity_scale);
void setAccelerationScale(double acceleration_scale);
protected:
std::string planning_group_;
std::string target_link_;
double vel_scale_{ 1.0 };
double acc_scale_{ 1.0 };
};
inline void MotionCmd::setPlanningGroup(const std::string& planning_group)
{
planning_group_ = planning_group;
}
inline const std::string& MotionCmd::getPlanningGroup() const
{
return planning_group_;
}
inline void MotionCmd::setVelocityScale(double velocity_scale)
{
vel_scale_ = velocity_scale;
}
inline void MotionCmd::setAccelerationScale(double acceleration_scale)
{
acc_scale_ = acceleration_scale;
}
using MotionCmdUPtr = std::unique_ptr<MotionCmd>;
} // namespace pilz_industrial_motion_planner_testutils