00001 #ifndef ARM_MOVE_H 00002 #define ARM_MOVE_H 00003 00004 #include <moveit/move_group_interface/move_group.h> 00005 #include <moveit/planning_scene_interface/planning_scene_interface.h> 00006 00007 #include <moveit_msgs/DisplayRobotState.h> 00008 #include <moveit_msgs/DisplayTrajectory.h> 00009 00010 #include <moveit_msgs/AttachedCollisionObject.h> 00011 #include <moveit_msgs/CollisionObject.h> 00012 00013 class ArmMove { 00014 private: 00015 moveit::planning_interface::MoveGroup::Plan _drivingModePlan; 00016 moveit::planning_interface::MoveGroup _group; 00017 bool _isSuccess; 00018 00019 public: 00020 ArmMove(); 00021 bool plan(std::string targetName); 00022 void move(); 00023 }; 00024 00025 00026 #endif //ARM_MOVE_H