AttachOrDetachStageRequest Struct
Parameters describing the attach or detach action for appendAttachOrDetachStage. More...
Declaration
Included Headers
Public Member Attributes Index
| std::string | object_id |
|
Id of the object to attach or detach. Must be non-empty. More... | |
| std::string | link_name |
|
Robot link to attach to / detach from. Must name a link in the task's robot model. More... | |
| bool | attach = true |
|
True to attach the object, false to detach it. More... | |
| std::vector< std::string > | allowed_collision_links = {} |
|
Robot links permitted to collide with the attached object. Ignored when attach is false. More... | |
| std::optional< geometry_msgs::msg::Transform > | relative_transform = std::nullopt |
Description
Parameters describing the attach or detach action for appendAttachOrDetachStage.
object_id and link_name are required for both actions. allowed_collision_links and relative_transform apply only when attach is true and are ignored for a detach.
Definition at line 96 of file mtc_stage_helpers.hpp.
Public Member Attributes
allowed_collision_links
|
Robot links permitted to collide with the attached object. Ignored when attach is false.
Definition at line 105 of file mtc_stage_helpers.hpp.
attach
|
True to attach the object, false to detach it.
Definition at line 103 of file mtc_stage_helpers.hpp.
link_name
|
Robot link to attach to / detach from. Must name a link in the task's robot model.
Definition at line 101 of file mtc_stage_helpers.hpp.
object_id
|
Id of the object to attach or detach. Must be non-empty.
Definition at line 99 of file mtc_stage_helpers.hpp.
relative_transform
|
Optional fixed pose (link_T_object) to attach at instead of the object's current pose. Ignored when attach is false.
Definition at line 108 of file mtc_stage_helpers.hpp.
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