26 lines
627 B
C++
Executable File
26 lines
627 B
C++
Executable File
#ifndef CARTESIAN_H
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#define CARTESIAN_H
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#include "FSM/FSMState.h"
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class State_Cartesian : public FSMState{
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public:
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State_Cartesian(CtrlComponents *ctrlComp);
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~State_Cartesian(){}
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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 _oriSpeed = 0.4;// control by keyboard or joystick
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double _posSpeed = 0.15;
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double oriSpeedLimit = 0.3;// limits in SDK
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double posSpeedLimit = 0.3;
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VecX _changeDirections;
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Vec6 _twist;
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HomoMat _endHomoGoal, _endHomoGoalPast;
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Vec6 _endPostureGoal, _endPosturePast, _endPostureDelta;
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};
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#endif // CARTESIAN_H
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