00001 #include "arm_move.h" 00002 00003 ArmMove::ArmMove() : _group("arm") 00004 { 00005 _group.setPlannerId("PRMstarkConfigDefault"); 00006 _group.setPlanningTime(5.0); 00007 _group.setNumPlanningAttempts(2); 00008 _group.setMaxVelocityScalingFactor(0.1); 00009 _isSuccess = false; 00010 } 00011 00012 bool ArmMove::plan(std::string targetName) 00013 { 00014 _isSuccess = false; 00015 _group.setNamedTarget(targetName); 00016 if (_group.plan(_drivingModePlan)) 00017 _isSuccess = true; 00018 return _isSuccess; 00019 } 00020 00021 void ArmMove::move() 00022 { 00023 if (_isSuccess) 00024 _group.move(); 00025 }