2022-07-20 11:11:38 +08:00
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#ifndef MOVEJ_H
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#define MOVEJ_H
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#include "FSM/FSMState.h"
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#include "trajectory/JointSpaceTraj.h"
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class State_MoveJ : public FSMState{
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public:
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State_MoveJ(CtrlComponents *ctrlComp);
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~State_MoveJ();
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void enter();
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void run();
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void exit();
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int checkChange(int cmd);
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private:
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2022-11-11 19:49:41 +08:00
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double _speed;
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2022-07-20 11:11:38 +08:00
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JointSpaceTraj *_jointTraj;
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bool _reached, _pastReached, _finalReached;
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2022-11-11 19:49:41 +08:00
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std::vector<Vec6> _qCmd;
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2022-07-20 11:11:38 +08:00
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};
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#endif // CARTESIAN_H
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