.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_multi_ur5_sim_include_sm_multi_ur5_sim_orthogonals_or_arm.hpp:

Program Listing for File or_arm.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_multi_ur5_sim_include_sm_multi_ur5_sim_orthogonals_or_arm.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_multi_ur5_sim/include/sm_multi_ur5_sim/orthogonals/or_arm.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 <move_group_interface_client/cl_movegroup.hpp>
   #include <move_group_interface_client/components/cp_trajectory_history.hpp>
   #include <move_group_interface_client/components/cp_grasping_objects.hpp>
   
   #include "ros_timer_client/cl_ros_timer.hpp"
   #include "smacc2/smacc.hpp"
   
   namespace sm_multi_ur5_sim
   {
   using namespace std::chrono_literals;
   
   class OrArm : public smacc2::Orthogonal<OrArm>
   {
   public:
     void onInitialize() override
     {
       //moveit::planning_interface::MoveGroupInterface::Options options ("ur5_1ur_manipulator", moveit::planning_interface::MoveGroupInterface::ROBOT_DESCRIPTION, "ur5_1");
   
       //getNode()->declare_parameter("manipulator_id"); // ur5_1
       //auto prefix = getNode()->get_parameter("manipulator_id").value_to_string(); // ur5_1
       // std::string prefix = "ur5_2";
       std::string prefix = "";
   
       moveit::planning_interface::MoveGroupInterface::Options options (prefix + "ur_manipulator");
   
       auto move_group_client = this->createClient<cl_move_group_interface::ClMoveGroup>(options); //ur_manipulator
       move_group_client->createComponent<cl_move_group_interface::CpTrajectoryHistory>();
       auto graspingComponent = move_group_client->createComponent<cl_move_group_interface::CpGraspingComponent>();
   
       graspingComponent->gripperLink_="tool0";
       graspingComponent->createGraspableBox("virtualBox", 0,0.5,0.5,0.1,0.1,0.1);
     }
   };
   }  // namespace sm_multi_ur5_sim