.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_client_behaviors_cb_pouring_motion.hpp:

Program Listing for File cb_pouring_motion.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_pouring_motion.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_pouring_motion.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 <tf2/transform_datatypes.h>
   #include "cb_move_end_effector_trajectory.hpp"
   
   namespace cl_move_group_interface
   {
   class CbCircularPouringMotion : public CbMoveEndEffectorTrajectory
   {
   public:
     std::optional<double> angularSpeed_rad_s_;
   
     std::optional<double> linearSpeed_m_s_;
   
     CbCircularPouringMotion(
       const geometry_msgs::msg::Point & pivotPoint, double deltaHeight, std::string tipLink,
       std::string globalFrame);
   
     virtual void generateTrajectory() override;
   
     virtual void createMarkers() override;
   
     geometry_msgs::msg::Vector3 directionVector_;
   
     // relative position of the "lid" of the bottle in the end effector reference frame.
     // that point is the one that must do the linear motion
     geometry_msgs::msg::Pose pointerRelativePose_;
   
   protected:
     geometry_msgs::msg::Point relativePivotPoint_;
   
     // distance in meters from the initial pose to the bottom/top direction in z axe
     double deltaHeight_;
   
     std::vector<geometry_msgs::msg::PoseStamped> pointerTrajectory_;
   
   private:
     void computeCurrentEndEffectorPoseRelativeToPivot();
   
     std::string globalFrame_;
   };
   
   }  // namespace cl_move_group_interface