Program Listing for File cb_move_cartesian_relative.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 <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