32 lines
940 B
C
32 lines
940 B
C
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#ifndef ENDCIRCLETRAJ_H
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#define ENDCIRCLETRAJ_H
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#include "model/ArmDynKineModel.h"
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#include "trajectory/EndHomoTraj.h"
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class EndCircleTraj: public EndHomoTraj{
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public:
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EndCircleTraj(CtrlComponents *ctrlComp);
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EndCircleTraj(ArmDynKineModel *armModel);
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~EndCircleTraj(){}
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void setEndRoundTraj(HomoMat startHomo, Vec3 axisPointFromInit,
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Vec3 axisDirection, double maxSpeed, double angle,
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bool keepOrientation = true);
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void setEndRoundTraj(std::string stateName, Vec3 axisPointFromInit,
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Vec3 axisDirection, double maxSpeed, double angle,
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bool keepOrientation = true);
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private:
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bool _getEndTraj(HomoMat &homo, Vec6 &twist);
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Vec3 _center;
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double _radius;
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HomoMat _centerHomo;
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HomoMat _initHomoToCenter;
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RotMat _initOri;
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double _maxSpeed, _goalAngle, _speed, _angle;
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Vec3 _omegaAxis;
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bool _keepOrientation;
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};
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#endif // ENDCIRCLETRAJ_H
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