cb_move_end_effector_relative.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 *****************************************************************************************************************/
 
#pragma once
 
#include <move_group_interface_client/cl_movegroup.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
namespace cl_move_group_interface
{
class CbMoveEndEffectorRelative : public smacc2::SmaccAsyncClientBehavior
{
public:
  geometry_msgs::msg::Transform transform_;
 
  std::optional<std::string> group_;
 
  CbMoveEndEffectorRelative();
 
  CbMoveEndEffectorRelative(geometry_msgs::msg::Transform transform);
 
  virtual void onEntry() override;
 
  virtual void onExit() override;
 
protected:
  void moveRelative(
    moveit::planning_interface::MoveGroupInterface & moveGroupinterface,
    geometry_msgs::msg::Transform & transformOffset);
 
  ClMoveGroup * movegroupClient_;
};
 
}  // namespace cl_move_group_interface