execute_trajectory_action_capability.h
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34 
35 /*
36  * Capability of execute trajectory with a ROS action.
37  *
38  * Author: Kentaro Wada
39  * */
40 
41 #pragma once
42 
45 #include <moveit_msgs/ExecuteTrajectoryAction.h>
46 #include <memory>
47 
48 namespace move_group
49 {
50 class MoveGroupExecuteTrajectoryAction : public MoveGroupCapability
51 {
52 public:
54 
55  void initialize() override;
56 
57 private:
58  void executePathCallback(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal);
59  void executePath(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal,
60  moveit_msgs::ExecuteTrajectoryResult& action_res);
63 
64  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::ExecuteTrajectoryAction> > execute_action_server_;
65 };
66 
67 } // namespace move_group
move_group::MoveGroupState
MoveGroupState
Definition: move_group_capability.h:79
move_group::MoveGroupExecuteTrajectoryAction::setExecuteTrajectoryState
void setExecuteTrajectoryState(MoveGroupState state)
Definition: execute_trajectory_action_capability.cpp:163
move_group::MoveGroupExecuteTrajectoryAction::MoveGroupExecuteTrajectoryAction
MoveGroupExecuteTrajectoryAction()
Definition: execute_trajectory_action_capability.cpp:78
simple_action_server.h
move_group_capability.h
move_group::MoveGroupExecuteTrajectoryAction::initialize
void initialize() override
Definition: execute_trajectory_action_capability.cpp:82
move_group::MoveGroupExecuteTrajectoryAction::executePath
void executePath(const moveit_msgs::ExecuteTrajectoryGoalConstPtr &goal, moveit_msgs::ExecuteTrajectoryResult &action_res)
Definition: execute_trajectory_action_capability.cpp:123
move_group
Definition: capability_names.h:41
move_group::MoveGroupExecuteTrajectoryAction::execute_action_server_
std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::ExecuteTrajectoryAction > > execute_action_server_
Definition: execute_trajectory_action_capability.h:128
move_group::MoveGroupExecuteTrajectoryAction::preemptExecuteTrajectoryCallback
void preemptExecuteTrajectoryCallback()
Definition: execute_trajectory_action_capability.cpp:158
move_group::MoveGroupExecuteTrajectoryAction::executePathCallback
void executePathCallback(const moveit_msgs::ExecuteTrajectoryGoalConstPtr &goal)
Definition: execute_trajectory_action_capability.cpp:93


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Fri Sep 24 2021 02:24:38