z1_controller/include/FSM/State_MoveL.h

22 lines
489 B
C++

#ifndef MOVEL_H
#define MOVEL_H
#include "FSM/FSMState.h"
#include "trajectory/EndLineTraj.h"
class State_MoveL : public FSMState{
public:
State_MoveL(CtrlComponents *ctrlComp);
~State_MoveL();
void enter();
void run();
void exit();
int checkChange(int cmd);
private:
double _speed;
std::vector<Vec6> _postures;
EndLineTraj *_lineTraj;
bool _timeReached, _taskReached, _pastTaskReached, _finalReached;
uint _taskCnt;
};
#endif // CARTESIAN_H