Class MotionPlugin

Defined in File motion_plugin.hpp

Inheritance Relationships

Derived Types

public NullMotionPlugin (Class NullMotionPlugin)
public XArmPlugin (Class XArmPlugin)

Class Documentation

class MotionPlugin

Subclassed by NullMotionPlugin, XArmPlugin

Public Functions

inline explicit MotionPlugin(const std::string &name)

virtual ~MotionPlugin() = default

virtual bool sendCartesianTwist(const geometry_msgs::msg::Twist &endEffectorTwist) = 0

virtual bool sendJointStates(const sensor_msgs::msg::JointState &js) = 0

virtual bool readRobotState(sensor_msgs::msg::JointState &js, geometry_msgs::msg::PoseStamped &endEffectorPose) = 0

inline virtual void assignSharedClock(rclcpp::Clock::SharedPtr clock)

inline virtual void assignIKSolver(std::shared_ptr<pfield::IKSolver> ikSolver)

inline virtual std::shared_ptr<pfield::IKSolver> getIKSolver() const

inline virtual std::string getName() const

inline virtual std::vector<double> getCurrentJointAngles() const

Protected Attributes

rclcpp::Clock::SharedPtr clock

std::shared_ptr<pfield::IKSolver> ikSolver

std::string name

std::vector<double> currentJointAngles