37 #ifndef MOVEIT_MOVEIT_SENSOR_MANAGER_ 38 #define MOVEIT_MOVEIT_SENSOR_MANAGER_ 43 #include <moveit_msgs/RobotTrajectory.h> 44 #include <geometry_msgs/PointStamped.h> 88 virtual void getSensorsList(std::vector<std::string>& names)
const = 0;
91 virtual SensorInfo getSensorInfo(
const std::string& name)
const = 0;
94 virtual bool hasSensors()
const = 0;
102 virtual bool pointSensorTo(
const std::string& name,
const geometry_msgs::PointStamped& target,
103 moveit_msgs::RobotTrajectory& sensor_trajectory) = 0;
double y_angle
The range of observations (in radians) on the Y axis.
double max_dist
The maximum distance along the Z axis at which observations can be.
std::string origin_frame
The name of the frame in which the sensor observation axis is Z and starts at (0,0,0)
virtual ~MoveItSensorManager()
Namespace for the base class of a MoveIt! sensor manager.
double x_angle
The range of observations (in radians) on the X axis.
MOVEIT_CLASS_FORWARD(MoveItSensorManager)
Define the frame of reference and the frustum of a sensor (usually this is a visual sensor) ...
double min_dist
The minumum distance along the Z axis at which observations start.