30 lines
882 B
C
30 lines
882 B
C
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#ifndef ENDLINETRAJ_H
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#define ENDLINETRAJ_H
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#include "trajectory/EndHomoTraj.h"
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#include "trajectory/SCurve.h"
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class EndLineTraj : public EndHomoTraj{
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public:
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EndLineTraj(CtrlComponents *ctrlComp);
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EndLineTraj(ArmDynKineModel *armModel);
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~EndLineTraj(){}
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void setEndLineTraj(HomoMat startHomo, Vec3 deltaPos, Vec3 deltaOri, double maxMovingSpeed, double maxTurningSpeed);
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void setEndLineTraj(std::string stateName, Vec3 deltaPos, Vec3 deltaOri, double maxMovingSpeed, double maxTurningSpeed);
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private:
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bool _getEndTraj(HomoMat &homo, Vec6 &twist);
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// SCurve _sCurves[2]; // 0: position, 1: orientation
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Vec3 _movingAxis, _turningAxis;
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double _movingDistance, _turningAngle;
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Vec3 _currentDistance, _currentAngle;
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Vec3 _currentVelocity, _currentOmega;
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SCurve _posCurve;
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SCurve _oriCurve;
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};
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#endif // ENDLINETRAJ_H
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