SMACC2
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cb_end_effector_rotate.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 *****************************************************************************************************************/
20
22
24{
25// spins the end effector joint (or any other arbitrary joint etting the tipLink parameter)
27{
28public:
29 CbEndEffectorRotate(double deltaRadians, std::optional<std::string> tipLink = std::nullopt);
30
31 virtual ~CbEndEffectorRotate();
32
33 virtual void onEntry() override;
34
35 std::optional<std::string> tipLink;
36};
37
38} // namespace cl_move_group_interface