Class CbCircularPivotMotion

Defined in File cb_circular_pivot_motion.hpp

Inheritance Relationships

Base Type

public cl_moveit2z::CbMoveEndEffectorTrajectory (Class CbMoveEndEffectorTrajectory)

Derived Type

public cl_moveit2z::CbEndEffectorRotate (Class CbEndEffectorRotate)

Class Documentation

class CbCircularPivotMotion : public cl_moveit2z::CbMoveEndEffectorTrajectory 

Subclassed by cl_moveit2z::CbEndEffectorRotate

Public Functions

CbCircularPivotMotion(std::optional<std::string> tipLink = std::nullopt)

CbCircularPivotMotion(const geometry_msgs::msg::PoseStamped &planePivotPose, double deltaRadians, std::optional<std::string> tipLink = std::nullopt)

CbCircularPivotMotion(const geometry_msgs::msg::PoseStamped &planePivotPose, const geometry_msgs::msg::Pose &relativeInitialPose, double deltaRadians, std::optional<std::string> tipLink = std::nullopt)

virtual void generateTrajectory() override

virtual void createMarkers() override

Public Members

std::optional<double> angularSpeed_rad_s_

std::optional<double> linearSpeed_m_s_

std::optional<geometry_msgs::msg::Pose> relativeInitialPose_

Protected Attributes

geometry_msgs::msg::PoseStamped planePivotPose_

double deltaRadians_