rpos::actions::MoveAction Class

An object of MoveAction represents a specific movement action. The current planned path, key points list and the progress of the motion can be retrieved.

Header File

rpos/features/motion_planner/move_action.h

Applies to

• Slamware

Parent Class

• rpos::core::Action

Methods

rpos::features::motion_planner::Path getRemainingPath()

Retrieves the remaining path to follow of the current task.

rpos::features::motion_planner::Path getRemainingMilestones()

Retrieves the reamining keypoints (milestones) the robot is required to reach to.

Methods inherts from rpos::core::Action

• ActionStatus getStatus()
• std::string Action::getReason()
• void cancel()
• ActionStatus waitUntilDone()
• template ActionT cast()