.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_multi_panda_sim_sm_multi_panda_sim_include_sm_multi_panda_sim_orthogonals_or_arm_right.hpp:

Program Listing for File or_arm_right.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_multi_panda_sim_sm_multi_panda_sim_include_sm_multi_panda_sim_orthogonals_or_arm_right.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/orthogonals/or_arm_right.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #pragma once
   
   #include <chrono>
   
   #include <moveit2z_client/cl_moveit2z.hpp>
   #include <moveit2z_client/components/cp_trajectory_history.hpp>
   #include <moveit2z_client/components/cp_grasping_objects.hpp>
   
   #include "ros_timer_client/cl_ros_timer.hpp"
   #include "smacc2/smacc.hpp"
   
   namespace sm_multi_panda_sim
   {
   using namespace std::chrono_literals;
   using moveit::planning_interface::MoveGroupInterface;
   
   class OrArmRight : public smacc2::Orthogonal<OrArmRight>
   {
   public:
     void onInitialize() override
     {
   
       moveit::planning_interface::MoveGroupInterface::Options options ("right_panda_arm","robot_description", "/panda_arm_2");
   
       auto move_group_client = this->createClient<cl_moveit2z::ClMoveit2z>(options); //ur_manipulator
   
       move_group_client->createComponent<cl_moveit2z::CpTrajectoryHistory>();
   
       // auto graspingComponent = move_group_client->createComponent<cl_moveit2z::CpGraspingComponent>();
       // graspingComponent->gripperLink_="right_panda_link8";
     }
   };
   }  // namespace sm_multi_panda_sim