cartesian_path_service_capability.h
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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 Mon Apr 23 2018 10:25:35