Class CbMoveCartesianRelative

Defined in File cb_move_cartesian_relative.hpp

Inheritance Relationships

Base Type

public smacc2::SmaccAsyncClientBehavior

Class Documentation

class CbMoveCartesianRelative : public smacc2::SmaccAsyncClientBehavior 

Public Functions

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 Members

geometry_msgs::msg::Vector3 offset_

std::optional<double> scalingFactor_

std::optional<std::string> group_

ClMoveGroup *moveGroupSmaccClient_