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Restore and Fix multi-group trajectory execution for multi-group robots #259

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Restore and Fix multi-group trajectory execution for multi-group robots #259

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72cd3af
Restore multi-group trajectory execution
Danfoa Feb 6, 2019
5a05e89
Fix and complement multi-group motion capabilities
Danfoa Mar 1, 2019
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6 changes: 5 additions & 1 deletion motoman_driver/include/motoman_driver/industrial_robot_client/joint_trajectory_action.h
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Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,11 @@ class JointTrajectoryAction
bool has_active_goal_;

std::map<int, bool> has_active_goal_map_;

/**
* \brief Indicates which groups are active on `multi-group` action goals,
* Note: independant of `has_active_goal_map_` which handles single group goals.
*/
std::map<int, bool> multi_group_active_goals_map_;
/**
* \brief Cache of the current active goal
*/
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