Class CbCircularPouringMotion

• Defined in File cb_pouring_motion.hpp

Inheritance Relationships

Base Type

• public cl_moveit2z::CbMoveEndEffectorTrajectory (Class CbMoveEndEffectorTrajectory)

Class Documentation

class CbCircularPouringMotion : public cl_moveit2z::CbMoveEndEffectorTrajectory

Public Functions

CbCircularPouringMotion(const geometry_msgs::msg::Point &pivotPoint, double deltaHeight, std::string tipLink, std::string globalFrame)

virtual void generateTrajectory() override

virtual void createMarkers() override

Public Members

std::optional<double> angularSpeed_rad_s_

std::optional<double> linearSpeed_m_s_

geometry_msgs::msg::Vector3 directionVector_

geometry_msgs::msg::Pose pointerRelativePose_

Protected Attributes

geometry_msgs::msg::Point relativePivotPoint_

double deltaHeight_

std::vector<geometry_msgs::msg::PoseStamped> pointerTrajectory_