37#include <eigen3/Eigen/Eigen>
38#include <kdl/rotational_interpolation_sa.hpp>
70 const std::string& group_name);
73 void extractMotionPlanInfo(
const planning_scene::PlanningSceneConstPtr& scene,
78 trajectory_msgs::msg::JointTrajectory& joint_trajectory)
override;
84 std::unique_ptr<KDL::Path> setPathLIN(
const Eigen::Affine3d& start_pose,
const Eigen::Affine3d& goal_pose)
const;
This class combines CartesianLimit and JointLimits into on single class.
This class implements a linear trajectory generator in Cartesian space. The Cartesian trajetory are b...
This class is used to extract needed information from motion plan request.
Base class of trajectory generators.
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest
#define CREATE_MOVEIT_ERROR_CODE_EXCEPTION(EXCEPTION_CLASS_NAME, ERROR_CODE)