34 lines
769 B
C
34 lines
769 B
C
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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/CartesionSpaceTraj.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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void quadprogArea();
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double _posSpeed;
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double _oriSpeed;
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Vec3 _omega;
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Vec3 _velocity;
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Vec6 _twist;
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Vec6 _pastPosture, _endPosture, _middlePostureGoal, _endPostureGoal, _endTwist;
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HomoMat _endHomoFeedback;
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Vec6 _Pdes;
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Vec6 _Pfd;
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Vec6 _Pkp;
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Vec6 _endPostureError;
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// 轨迹相关变量
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CartesionSpaceTraj *_cartesionTraj;
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bool _reached, _timeReached, _taskReached, _pastTaskReached;
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};
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#endif // CARTESIAN_H
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