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Pick: added setter for relative joint lift motion
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@ -88,6 +88,8 @@ public:
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double min_distance, double max_distance);
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void setLiftPlace(const geometry_msgs::TwistStamped& motion,
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double min_distance, double max_distance);
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void setRelativeJointSpaceGoal(const std::map<std::string, double>& relative_joint_space_goal);
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};
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@ -107,6 +109,10 @@ public:
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double min_distance, double max_distance) {
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setLiftPlace(motion, min_distance, max_distance);
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}
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void setRelativeJointSpaceLiftGoal(const std::map<std::string, double>& relative_joint_space_goal) {
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setRelativeJointSpaceGoal(relative_joint_space_goal);
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}
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};
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@ -83,4 +83,10 @@ void PickPlaceBase::setLiftPlace(const geometry_msgs::TwistStamped& motion, doub
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p.set("max_distance", max_distance);
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}
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void PickPlaceBase::setRelativeJointSpaceGoal(const std::map<std::string, double>& relative_joint_space_goal)
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{
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auto& p = lift_stage_->properties();
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p.set("relative_joint_space_goal", relative_joint_space_goal);
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}
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} } }
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