SMACC2
cb_move_named_target.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
23#include <map>
24#include <string>
25
28
30{
31//named targets are configured in the urdf file
33{
34protected:
36 std::string namedTarget_;
37
38public:
39 CbMoveNamedTarget(std::string namedtarget);
40
41 virtual void onEntry() override;
42
43 virtual void onExit() override;
44
45 std::map<std::string, double> getNamedTargetValues();
46};
47} // namespace cl_move_group_interface
std::map< std::string, double > getNamedTargetValues()