include
pilz_industrial_motion_planner_testutils
motioncmd.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2019 Pilz GmbH & Co. KG
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* * Neither the name of Pilz GmbH & Co. KG nor the names of its
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* contributors may be used to endorse or promote products derived
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*********************************************************************/
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#ifndef MOTIONCMD_H
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#define MOTIONCMD_H
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#include <string>
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#include <memory>
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#include "
motionplanrequestconvertible.h
"
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namespace
pilz_industrial_motion_planner_testutils
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{
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class
MotionCmd :
public
MotionPlanRequestConvertible
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{
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public
:
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MotionCmd
() : MotionPlanRequestConvertible()
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{
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}
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public
:
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void
setPlanningGroup
(
const
std::string& planning_group);
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const
std::string&
getPlanningGroup
()
const
;
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void
setVelocityScale
(
double
velocity_scale);
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void
setAccelerationScale
(
double
acceleration_scale);
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protected
:
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std::string
planning_group_
;
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std::string
target_link_
;
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double
vel_scale_
{ 1.0 };
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double
acc_scale_
{ 1.0 };
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};
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inline
void
MotionCmd::setPlanningGroup
(
const
std::string& planning_group)
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{
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planning_group_
= planning_group;
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}
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inline
const
std::string&
MotionCmd::getPlanningGroup
()
const
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{
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return
planning_group_
;
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}
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inline
void
MotionCmd::setVelocityScale
(
double
velocity_scale)
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{
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vel_scale_
= velocity_scale;
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}
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inline
void
MotionCmd::setAccelerationScale
(
double
acceleration_scale)
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{
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acc_scale_
= acceleration_scale;
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}
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using
MotionCmdUPtr
= std::unique_ptr<MotionCmd>;
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}
// namespace pilz_industrial_motion_planner_testutils
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#endif // MOTIONCMD_H
pilz_industrial_motion_planner_testutils::MotionCmd::planning_group_
std::string planning_group_
Definition:
motioncmd.h:127
pilz_industrial_motion_planner_testutils::MotionCmd::target_link_
std::string target_link_
Link to which all cartesian poses refer to.
Definition:
motioncmd.h:129
motionplanrequestconvertible.h
pilz_industrial_motion_planner_testutils
Definition:
basecmd.h:42
pilz_industrial_motion_planner_testutils::MotionCmd::vel_scale_
double vel_scale_
Definition:
motioncmd.h:130
pilz_industrial_motion_planner_testutils::MotionCmd::setVelocityScale
void setVelocityScale(double velocity_scale)
Definition:
motioncmd.h:112
pilz_industrial_motion_planner_testutils::MotionCmd::setPlanningGroup
void setPlanningGroup(const std::string &planning_group)
Definition:
motioncmd.h:102
pilz_industrial_motion_planner_testutils::MotionCmd::getPlanningGroup
const std::string & getPlanningGroup() const
Definition:
motioncmd.h:107
pilz_industrial_motion_planner_testutils::MotionCmd::acc_scale_
double acc_scale_
Definition:
motioncmd.h:131
pilz_industrial_motion_planner_testutils::MotionCmdUPtr
std::unique_ptr< MotionCmd > MotionCmdUPtr
Definition:
motioncmd.h:122
pilz_industrial_motion_planner_testutils::MotionCmd::MotionCmd
MotionCmd()
Definition:
motioncmd.h:115
pilz_industrial_motion_planner_testutils::MotionCmd::setAccelerationScale
void setAccelerationScale(double acceleration_scale)
Definition:
motioncmd.h:117
pilz_industrial_motion_planner_testutils
Author(s):
autogenerated on Sat May 3 2025 02:28:27