2023-04-18 20:26:55 +08:00
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#ifndef STATE_BACKTOSTART_H
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#define STATE_BACKTOSTART_H
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#include "FSM/FSMState.h"
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#include "trajectory/JointSpaceTraj.h"
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class State_BackToStart : public FSMState{
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public:
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State_BackToStart(CtrlComponents *ctrlComp);
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~State_BackToStart();
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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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bool _reach, _pastReach;
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JointSpaceTraj *_jointTraj;
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Vec6 _pos_startFlat;
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};
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2022-07-20 11:11:38 +08:00
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#endif // STATE_BACKTOSTART_H
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