cartesian_path_service_capability.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_CARTESIAN_PATH_SERVICE_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_CARTESIAN_PATH_SERVICE_CAPABILITY_
00039 
00040 #include <moveit/move_group/move_group_capability.h>
00041 #include <moveit_msgs/GetCartesianPath.h>
00042 
00043 namespace move_group
00044 {
00045 class MoveGroupCartesianPathService : public MoveGroupCapability
00046 {
00047 public:
00048   MoveGroupCartesianPathService();
00049 
00050   virtual void initialize();
00051 
00052 private:
00053   bool computeService(moveit_msgs::GetCartesianPath::Request& req, moveit_msgs::GetCartesianPath::Response& res);
00054 
00055   ros::ServiceServer cartesian_path_service_;
00056   ros::Publisher display_path_;
00057   bool display_computed_paths_;
00058 };
00059 }
00060 
00061 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:24:36