cb_move_end_effector_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 CbMoveEndEffectorRelative : public smacc::SmaccAsyncClientBehavior
{
public:
  geometry_msgs::Transform transform_;
 
  boost::optional<std::string> group_;
 
  CbMoveEndEffectorRelative();
 
  CbMoveEndEffectorRelative(geometry_msgs::Transform transform);
 
  virtual void onEntry() override;
 
  virtual void onExit() override;
 
protected:
  void moveRelative(moveit::planning_interface::MoveGroupInterface &moveGroupinterface,
                    geometry_msgs::Transform &transformOffset);
 
  ClMoveGroup *movegroupClient_;
};
 
}  // namespace cl_move_group_interface