Pick: added setter for relative joint lift motion

This commit is contained in:
llach 2018-04-12 17:20:48 +02:00 committed by Robert Haschke
parent d0c8f7f819
commit 9a7aa4dad7
2 changed files with 12 additions and 0 deletions

View File

@ -88,6 +88,8 @@ public:
double min_distance, double max_distance);
void setLiftPlace(const geometry_msgs::TwistStamped& motion,
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) {
setLiftPlace(motion, min_distance, max_distance);
}
void setRelativeJointSpaceLiftGoal(const std::map<std::string, double>& relative_joint_space_goal) {
setRelativeJointSpaceGoal(relative_joint_space_goal);
}
};

View File

@ -83,4 +83,10 @@ void PickPlaceBase::setLiftPlace(const geometry_msgs::TwistStamped& motion, doub
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);
}
} } }