SMACC2
cb_move_end_effector_relative.hpp
Go to the documentation of this file.
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{
29{
30public:
31 geometry_msgs::msg::Transform transform_;
32
33 std::optional<std::string> group_;
34
36
37 CbMoveEndEffectorRelative(geometry_msgs::msg::Transform transform);
38
39 virtual void onEntry() override;
40
41 virtual void onExit() override;
42
43protected:
44 void moveRelative(
45 moveit::planning_interface::MoveGroupInterface & moveGroupinterface,
46 geometry_msgs::msg::Transform & transformOffset);
47
49};
50
51} // namespace cl_move_group_interface
void moveRelative(moveit::planning_interface::MoveGroupInterface &moveGroupinterface, geometry_msgs::msg::Transform &transformOffset)