cb_move_cartesian_relative.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018-2020
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include <move_group_interface_client/cl_movegroup.h>
#include <smacc/smacc_asynchronous_client_behavior.h>
 
namespace cl_move_group_interface
{
class CbMoveCartesianRelative : public smacc::SmaccAsyncClientBehavior
{
public:
  geometry_msgs::Vector3 offset_;
 
  boost::optional<double> scalingFactor_;
 
  boost::optional<std::string> group_;
 
  CbMoveCartesianRelative();
 
  CbMoveCartesianRelative(geometry_msgs::Vector3 offset);
 
  virtual void onEntry() override;
 
  virtual void onExit() override;
 
  void moveRelativeCartesian(moveit::planning_interface::MoveGroupInterface *movegroupClient,
                             geometry_msgs::Vector3 &offset);
 
  public:
    ClMoveGroup *moveGroupSmaccClient_;
};
}  // namespace cl_move_group_interface