Program Listing for File cb_circular_pivot_motion.hpp
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// 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
{
// executes a circular trajectory of the tipLink around one axis defined
// by the z-axis of the plaenePivotPose
class CbCircularPivotMotion : public CbMoveEndEffectorTrajectory
{
public:
std::optional<double> angularSpeed_rad_s_;
std::optional<double> linearSpeed_m_s_;
// if not specified it would be used the current robot pose
std::optional<geometry_msgs::msg::Pose> relativeInitialPose_;
CbCircularPivotMotion(std::optional<std::string> tipLink = std::nullopt);
CbCircularPivotMotion(
const geometry_msgs::msg::PoseStamped & planePivotPose, double deltaRadians,
std::optional<std::string> tipLink = std::nullopt);
CbCircularPivotMotion(
const geometry_msgs::msg::PoseStamped & planePivotPose,
const geometry_msgs::msg::Pose & relativeInitialPose, double deltaRadians,
std::optional<std::string> tipLink = std::nullopt);
virtual void generateTrajectory() override;
virtual void createMarkers() override;
protected:
// the rotation axis (z-axis) and the center of rotation in the space
geometry_msgs::msg::PoseStamped planePivotPose_;
double deltaRadians_;
private:
void computeCurrentEndEffectorPoseRelativeToPivot();
};
} // namespace cl_move_group_interface