added registerTrajDoneCallback()

Author: mathias31415

include/ur_client_library/ur/instruction_executor.h

@@ -187,6 +187,8 @@ class InstructionExecutor
     return trajectory_running_;
   }
 
+  void registerTrajDoneCallback();
+
 private:
   void trajDoneCallback(const urcl::control::TrajectoryResult& result);
   void trajDisconnectCallback(const int filedescriptor);

src/ur/instruction_executor.cpp

@@ -41,6 +41,11 @@ void urcl::InstructionExecutor::trajDoneCallback(const urcl::control::Trajectory
   trajectory_result_ = result;
   trajectory_running_ = false;
 }
+void urcl::InstructionExecutor::registerTrajDoneCallback()
+{
+  driver_->registerTrajectoryDoneCallback(
+        std::bind(&InstructionExecutor::trajDoneCallback, this, std::placeholders::_1));
+}
 void urcl::InstructionExecutor::trajDisconnectCallback(const int filedescriptor)
 {
   URCL_LOG_INFO("Trajectory disconnect");