cb_circular_pivot_motion.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018-2020
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include "cb_move_end_effector_trajectory.h"
#include "tf/transform_datatypes.h"
#include <tf/transform_listener.h>
 
namespace cl_move_group_interface
{
    class CbCircularPivotMotion : public CbMoveEndEffectorTrajectory
    {
    public:
        boost::optional<double> angularSpeed_rad_s_;
        boost::optional<double> linearSpeed_m_s_;
 
        // if not specified it would be used the current robot pose
        boost::optional<geometry_msgs::Pose> relativeInitialPose_;
 
        CbCircularPivotMotion(std::string tipLink = "");
 
        CbCircularPivotMotion(const geometry_msgs::PoseStamped &planePivotPose, double deltaRadians, std::string tipLink = "");
 
        CbCircularPivotMotion(const geometry_msgs::PoseStamped &planePivotPose, const geometry_msgs::Pose &relativeInitialPose, double deltaRadians, std::string tipLink = "");
 
        virtual void generateTrajectory() override;
 
        virtual void createMarkers() override;
 
    protected:
        geometry_msgs::PoseStamped planePivotPose_;
 
        double deltaRadians_;
 
    private:
        void computeCurrentEndEffectorPoseRelativeToPivot();
    };
 
} // namespace cl_move_group_interface