2022-07-20 11:11:38 +08:00
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#ifndef TOSTATE_H
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#define TOSTATE_H
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#include "FSM/FSMState.h"
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#include "trajectory/JointSpaceTraj.h"
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class State_ToState : public FSMState{
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public:
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State_ToState(CtrlComponents *ctrlComp);
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~State_ToState();
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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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2022-09-13 19:53:15 +08:00
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bool _setCorrectly;
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2022-07-20 11:11:38 +08:00
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double _costTime;
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HomoMat _goalHomo;
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JointSpaceTraj *_jointTraj;
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bool _reach, _pastReach;
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std::string _goalName;
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};
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#endif // TOSTATE_H
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