mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Pick: added setter for relative joint lift motion
This commit is contained in:
parent
d0c8f7f819
commit
9a7aa4dad7
@ -88,6 +88,8 @@ public:
|
|||||||
double min_distance, double max_distance);
|
double min_distance, double max_distance);
|
||||||
void setLiftPlace(const geometry_msgs::TwistStamped& motion,
|
void setLiftPlace(const geometry_msgs::TwistStamped& motion,
|
||||||
double min_distance, double max_distance);
|
double min_distance, double max_distance);
|
||||||
|
|
||||||
|
void setRelativeJointSpaceGoal(const std::map<std::string, double>& relative_joint_space_goal);
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
@ -107,6 +109,10 @@ public:
|
|||||||
double min_distance, double max_distance) {
|
double min_distance, double max_distance) {
|
||||||
setLiftPlace(motion, min_distance, max_distance);
|
setLiftPlace(motion, min_distance, max_distance);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void setRelativeJointSpaceLiftGoal(const std::map<std::string, double>& relative_joint_space_goal) {
|
||||||
|
setRelativeJointSpaceGoal(relative_joint_space_goal);
|
||||||
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@ -83,4 +83,10 @@ void PickPlaceBase::setLiftPlace(const geometry_msgs::TwistStamped& motion, doub
|
|||||||
p.set("max_distance", max_distance);
|
p.set("max_distance", max_distance);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void PickPlaceBase::setRelativeJointSpaceGoal(const std::map<std::string, double>& relative_joint_space_goal)
|
||||||
|
{
|
||||||
|
auto& p = lift_stage_->properties();
|
||||||
|
p.set("relative_joint_space_goal", relative_joint_space_goal);
|
||||||
|
}
|
||||||
|
|
||||||
} } }
|
} } }
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user