z1_controller/include/FSM/State_BackToStart.h

22 lines
481 B
C++

#ifndef STATE_BACKTOSTART_H
#define STATE_BACKTOSTART_H
#include "FSM/FSMState.h"
#include "trajectory/JointSpaceTraj.h"
class State_BackToStart : public FSMState{
public:
State_BackToStart(CtrlComponents *ctrlComp);
~State_BackToStart();
void enter();
void run();
void exit();
int checkChange(int cmd);
private:
bool _reach, _pastReach;
JointSpaceTraj *_jointTraj;
Vec6 _pos_startFlat;
};
#endif // STATE_BACKTOSTART_H