pitasc_library - skills/skill_relative_ptp.xml

Model definitions

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<pitasc>
 4
 5    <models>
 6        <include package="pitasc_library" file="skills/skill_ptp.xml"/>
 7
 8        <type id="skill_relative_ptp" prototype="skill_ptp">
 9            <meta>
10                <member id="description">A skill that moves to a relative joint configuration</member>
11            </meta>
12
13            <data>
14
15                <type id="relative_joint_state" prototype="float_csv">
16                    <meta>
17                        <member id="description">Relative joint values of the target pose.</member>
18                        <member id="visibility">required</member>
19                    </meta>
20                </type>
21
22                <!-- Implementation details below: -->
23
24                <!-- Dummy, so Task doesn't complain -->
25                <member id="target_joint_state" reference_id="relative_joint_state"/>
26                <member id="target_joint_state.meta.visibility">hidden</member>
27
28                <member id="tasks.tracking.setpoint_generators">
29                    <clone id="relsetpoint" prototype="relative_setpoint">
30                        <member id="data_source">
31                            <reference prototype="robot_driver" reference_id="robot.robot_driver"/>
32                        </member>
33                        <member id="desired" reference_id="target_joint_state"/>
34                        <member id="coordinates" reference_id="coordinates"/>
35                    </clone>
36                </member>
37                <member id="tasks.tracking.controllers.p_controller.setpoint_generator">
38                    <reference reference_id="setpoint_generators.relsetpoint"/>
39                </member>
40            </data>
41        </type>
42
43    </models>
44
45</pitasc>