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 
00046 class MoveGroupCartesianPathService : public MoveGroupCapability
00047 {
00048 public:
00049 
00050   MoveGroupCartesianPathService();
00051 
00052   virtual void initialize();
00053 
00054 private:
00055 
00056   bool computeService(moveit_msgs::GetCartesianPath::Request &req, moveit_msgs::GetCartesianPath::Response &res);
00057 
00058   ros::ServiceServer cartesian_path_service_;
00059   ros::Publisher display_path_;
00060   bool display_computed_paths_;
00061 };
00062 
00063 }
00064 
00065 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:43:56