.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_client_behaviors_cb_move_cartesian_relative.hpp:

Program Listing for File cb_move_cartesian_relative.hpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_client_behaviors_cb_move_cartesian_relative.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_move_cartesian_relative.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    *****************************************************************************************************************/
   
   #pragma once
   
   #include <move_group_interface_client/cl_movegroup.hpp>
   #include <smacc2/smacc_asynchronous_client_behavior.hpp>
   
   namespace cl_move_group_interface
   {
   // Performs a relative motion from the current end effector pose
   // keeping the same orientation and just moving an offset in the position
   class CbMoveCartesianRelative : public smacc2::SmaccAsyncClientBehavior
   {
   public:
     geometry_msgs::msg::Vector3 offset_;
   
     std::optional<double> scalingFactor_;
   
     std::optional<std::string> group_;
   
     CbMoveCartesianRelative();
   
     CbMoveCartesianRelative(geometry_msgs::msg::Vector3 offset);
   
     virtual void onEntry() override;
   
     virtual void onExit() override;
   
     void moveRelativeCartesian(
       moveit::planning_interface::MoveGroupInterface * movegroupClient,
       geometry_msgs::msg::Vector3 & offset);
   
   public:
     ClMoveGroup * moveGroupSmaccClient_;
   };
   }  // namespace cl_move_group_interface