ros2_interfaces_rolling/moveit_msgs/srv/
get_cartesian_path.rs

1use serde::{Deserialize, Serialize};
2
3
4#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
5pub struct GetCartesianPathRequest {
6    pub header: crate::std_msgs::msg::Header,
7    pub start_state: crate::moveit_msgs::msg::RobotState,
8    pub group_name: ::std::string::String,
9    pub link_name: ::std::string::String,
10    pub waypoints: Vec<crate::geometry_msgs::msg::Pose>,
11    pub max_step: f64,
12    pub jump_threshold: f64,
13    pub prismatic_jump_threshold: f64,
14    pub revolute_jump_threshold: f64,
15    pub avoid_collisions: bool,
16    pub path_constraints: crate::moveit_msgs::msg::Constraints,
17    pub max_velocity_scaling_factor: f64,
18    pub max_acceleration_scaling_factor: f64,
19    pub cartesian_speed_limited_link: ::std::string::String,
20    pub max_cartesian_speed: f64,
21}
22
23impl Default for GetCartesianPathRequest {
24    fn default() -> Self {
25        GetCartesianPathRequest {
26            header: crate::std_msgs::msg::Header::default(),
27            start_state: crate::moveit_msgs::msg::RobotState::default(),
28            group_name: ::std::string::String::new(),
29            link_name: ::std::string::String::new(),
30            waypoints: Vec::new(),
31            max_step: 0.0,
32            jump_threshold: 0.0,
33            prismatic_jump_threshold: 0.0,
34            revolute_jump_threshold: 0.0,
35            avoid_collisions: false,
36            path_constraints: crate::moveit_msgs::msg::Constraints::default(),
37            max_velocity_scaling_factor: 0.0,
38            max_acceleration_scaling_factor: 0.0,
39            cartesian_speed_limited_link: ::std::string::String::new(),
40            max_cartesian_speed: 0.0,
41        }
42    }
43}
44
45impl ros2_client::Message for GetCartesianPathRequest {}
46
47
48
49#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
50pub struct GetCartesianPathResponse {
51    pub start_state: crate::moveit_msgs::msg::RobotState,
52    pub solution: crate::moveit_msgs::msg::RobotTrajectory,
53    pub fraction: f64,
54    pub error_code: crate::moveit_msgs::msg::MoveItErrorCodes,
55}
56
57impl Default for GetCartesianPathResponse {
58    fn default() -> Self {
59        GetCartesianPathResponse {
60            start_state: crate::moveit_msgs::msg::RobotState::default(),
61            solution: crate::moveit_msgs::msg::RobotTrajectory::default(),
62            fraction: 0.0,
63            error_code: crate::moveit_msgs::msg::MoveItErrorCodes::default(),
64        }
65    }
66}
67
68impl ros2_client::Message for GetCartesianPathResponse {}
69
70
71pub struct GetCartesianPath;
72impl ros2_client::Service for GetCartesianPath {
73    type Request = GetCartesianPathRequest;
74    type Response = GetCartesianPathResponse;
75
76    fn request_type_name(&self) -> &str { "GetCartesianPathRequest" }
77    fn response_type_name(&self) -> &str { "GetCartesianPathResponse" }
78}
ros2_interfaces_rolling/moveit_msgs/srv/get_cartesian_path.rs

ros2_interfaces_rolling/moveit_msgs/srv/
get_cartesian_path.rs
