Class CartesianConfiguration
Defined in File cartesianconfiguration.h
Inheritance Relationships
Base Type
public pilz_industrial_motion_planner_testutils::RobotConfiguration
(Class RobotConfiguration)
Class Documentation
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class CartesianConfiguration : public pilz_industrial_motion_planner_testutils::RobotConfiguration
Class to define a robot configuration in space with the help of cartesian coordinates.
Public Functions
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CartesianConfiguration()
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CartesianConfiguration(const std::string &group_name, const std::string &link_name, const std::vector<double> &config)
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CartesianConfiguration(const std::string &group_name, const std::string &link_name, const std::vector<double> &config, const moveit::core::RobotModelConstPtr &robot_model)
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inline virtual moveit_msgs::msg::Constraints toGoalConstraints() const override
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virtual moveit_msgs::msg::RobotState toMoveitMsgsRobotState() const override
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inline void setLinkName(const std::string &link_name)
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inline const std::string &getLinkName() const
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inline void setPose(const geometry_msgs::msg::Pose &pose)
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inline const geometry_msgs::msg::Pose &getPose() const
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inline geometry_msgs::msg::Pose &getPose()
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inline void setSeed(const JointConfiguration &config)
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inline const JointConfiguration &getSeed() const
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inline bool hasSeed() const
States if a seed for the cartesian configuration is set.
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inline void setPoseTolerance(const double tol)
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inline const std::optional<double> getPoseTolerance() const
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inline void setAngleTolerance(const double tol)
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inline const std::optional<double> getAngleTolerance() const
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CartesianConfiguration()