SMACC2
cb_move_cartesian_relative.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
21#pragma once
22
25
27{
28// Performs a relative motion from the current end effector pose
29// keeping the same orientation and just moving an offset in the position
31{
32public:
33 geometry_msgs::msg::Vector3 offset_;
34
35 std::optional<double> scalingFactor_;
36
37 std::optional<std::string> group_;
38
40
41 CbMoveCartesianRelative(geometry_msgs::msg::Vector3 offset);
42
43 virtual void onEntry() override;
44
45 virtual void onExit() override;
46
48 moveit::planning_interface::MoveGroupInterface * movegroupClient,
49 geometry_msgs::msg::Vector3 & offset);
50
51public:
53};
54} // namespace cl_move_group_interface
void moveRelativeCartesian(moveit::planning_interface::MoveGroupInterface *movegroupClient, geometry_msgs::msg::Vector3 &offset)