.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_client_behaviors_cb_move_end_effector.hpp:

Program Listing for File cb_move_end_effector.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_end_effector.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_move_end_effector.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 <future>
   #include <move_group_interface_client/cl_movegroup.hpp>
   #include <smacc2/smacc_asynchronous_client_behavior.hpp>
   namespace cl_move_group_interface
   {
   class CbMoveEndEffector : public smacc2::SmaccAsyncClientBehavior
   {
   public:
     geometry_msgs::msg::PoseStamped targetPose;
     std::string tip_link_;
     std::optional<std::string> group_;
   
     CbMoveEndEffector();
     CbMoveEndEffector(geometry_msgs::msg::PoseStamped target_pose, std::string tip_link = "");
   
     virtual void onEntry() override;
   
   protected:
     bool moveToAbsolutePose(
       moveit::planning_interface::MoveGroupInterface & moveGroupInterface,
       geometry_msgs::msg::PoseStamped & targetObjectPose);
   
     ClMoveGroup * movegroupClient_;
   };
   }  // namespace cl_move_group_interface