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Added setting of cartesian speed and acceleration #53

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merged 2 commits into from
Apr 4, 2024
Merged

Added setting of cartesian speed and acceleration #53

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9ce0f1d
added re-use of max_velocity_scaling_factor and max_acceleration_scal…
Zarnack Mar 26, 2024
b71913b
Removed getter and setter of 'max_cartesian_speed' to avoid confusion
Zarnack Apr 3, 2024
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17 changes: 9 additions & 8 deletions pymoveit2/moveit2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1739,6 +1739,15 @@ def _plan_cartesian_path(
self.__cartesian_path_request.start_state = (
self.__move_action_goal.request.start_state
)

self.__cartesian_path_request.max_velocity_scaling_factor = (
self.__move_action_goal.request.max_velocity_scaling_factor
)

self.__cartesian_path_request.max_acceleration_scaling_factor = (
self.__move_action_goal.request.max_acceleration_scaling_factor
)

self.__cartesian_path_request.group_name = (
self.__move_action_goal.request.group_name
)
Expand Down Expand Up @@ -2032,14 +2041,6 @@ def max_acceleration(self) -> float:
def max_acceleration(self, value: float):
self.__move_action_goal.request.max_acceleration_scaling_factor = value

@property
def max_cartesian_speed(self) -> float:
return self.__move_action_goal.request.max_cartesian_speed

@max_cartesian_speed.setter
def max_cartesian_speed(self, value: float):
self.__move_action_goal.request.max_cartesian_speed = value

@property
def num_planning_attempts(self) -> int:
return self.__move_action_goal.request.num_planning_attempts
Expand Down