cartesian_trajectory_point.h

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#pragma once
 
#include <rclcpp/duration.hpp>
 
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/twist.hpp>
 
namespace pilz_industrial_motion_planner
{
struct CartesianTrajectoryPoint
{
  geometry_msgs::msg::Pose pose;
  geometry_msgs::msg::Twist velocity;
  geometry_msgs::msg::Twist acceleration;
  rclcpp::Duration time_from_start{ 0, 0 };
};
 
}  // namespace pilz_industrial_motion_planner