Class CbMoveEndEffectorTrajectory

Defined in File cb_move_end_effector_trajectory.hpp

Inheritance Relationships

Base Types

public smacc2::SmaccAsyncClientBehavior
public smacc2::ISmaccUpdatable

Derived Types

public cl_moveit2z::CbCircularPivotMotion (Class CbCircularPivotMotion)
public cl_moveit2z::CbCircularPouringMotion (Class CbCircularPouringMotion)
public cl_moveit2z::CbExecuteLastTrajectory (Class CbExecuteLastTrajectory)
public cl_moveit2z::CbMoveCartesianRelative2 (Class CbMoveCartesianRelative2)
public cl_moveit2z::CbUndoLastTrajectory (Class CbUndoLastTrajectory)

Class Documentation

class CbMoveEndEffectorTrajectory : public smacc2::SmaccAsyncClientBehavior, public smacc2::ISmaccUpdatable 

Subclassed by cl_moveit2z::CbCircularPivotMotion, cl_moveit2z::CbCircularPouringMotion, cl_moveit2z::CbExecuteLastTrajectory, cl_moveit2z::CbMoveCartesianRelative2, cl_moveit2z::CbUndoLastTrajectory

Public Functions

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

CbMoveEndEffectorTrajectory(const std::vector<geometry_msgs::msg::PoseStamped> &endEffectorTrajectory, std::optional<std::string> tipLink = std::nullopt)

template<typename TOrthogonal, typename TSourceObject> inline void onOrthogonalAllocation()

virtual void onEntry() override

virtual void onExit() override

virtual void update() override

Public Members

std::optional<std::string> group_

std::optional<std::string> tipLink_

std::optional<bool> allowInitialTrajectoryStateJointDiscontinuity_

Protected Functions

ComputeJointTrajectoryErrorCode computeJointSpaceTrajectory(moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)

void executeJointSpaceTrajectory(const moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)

virtual void generateTrajectory() = 0

virtual void createMarkers()

void getCurrentEndEffectorPose(std::string globalFrame, tf2::Stamped<tf2::Transform> &currentEndEffectorTransform)

Protected Attributes

std::vector<geometry_msgs::msg::PoseStamped> endEffectorTrajectory_

ClMoveit2z *movegroupClient_ = nullptr

visualization_msgs::msg::MarkerArray beahiorMarkers_