27 lines
620 B
C
27 lines
620 B
C
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#ifndef STATE_TEACHREPEAT_H
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#define STATE_TEACHREPEAT_H
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#include "FSM/FSMState.h"
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#include "trajectory/TrajectoryManager.h"
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#include "common/utilities/CSVTool.h"
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class State_TeachRepeat : public FSMState{
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public:
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State_TeachRepeat(CtrlComponents *ctrlComp);
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~State_TeachRepeat();
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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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JointSpaceTraj *_toStartTraj;
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bool _reachedStart = false;
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bool _finishedRepeat = false;
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size_t _index = 0;
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size_t _indexPast;
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Vec6 _trajStartQ, _trajStartQd;
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CSVTool *_csvFile;
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};
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#endif // STATE_TEACHREPEAT_H
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