Class CartesianSpacePlanningStrategy

Defined in File planning_strategy.hpp

Inheritance Relationships

Base Type

public rp_moveit_commander::PlanningStrategy (Class PlanningStrategy)

Class Documentation

class CartesianSpacePlanningStrategy : public rp_moveit_commander::PlanningStrategy 

Plan in cartesian space with Pilz planner motion sequence service. Produces linear trajectory.

Public Functions

inline CartesianSpacePlanningStrategy(std::shared_ptr<MoveItGroup> move_group, rclcpp::Client<GetMotionSequenceSrv>::SharedPtr service_client)

virtual MoveItPlan Plan(const PoseStampedMsg &target_pose, const PlanningStrategyParams &params) const override

virtual MoveItPlan Plan(const PoseArrayMsg &target_poses, const PlanningStrategyParams &params) const override