2023-04-18 20:26:55 +08:00
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#ifndef MOVEC_H
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#define MOVEC_H
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#include "FSM/FSMState.h"
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#include "trajectory/EndCircleTraj.h"
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class State_MoveC : public FSMState{
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public:
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State_MoveC(CtrlComponents *ctrlComp);
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~State_MoveC();
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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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double _speed;
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std::vector<Vec6> _postures;
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EndCircleTraj *_circleTraj;
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bool _timeReached, _taskReached, _pastTaskReached, _finalReached;
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uint _taskCnt;
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};
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2022-07-20 11:11:38 +08:00
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#endif // CARTESIAN_H
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