24 lines
445 B
C++
Executable File
24 lines
445 B
C++
Executable File
#ifndef STATETEACH_H
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#define STATETEACH_H
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#include "FSM/FSMState.h"
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class State_Teach : public FSMState{
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public:
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State_Teach(CtrlComponents *ctrlComp);
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~State_Teach();
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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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CSVTool *_trajCSV;
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size_t _stateID = 0;
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Vec6 _KdDiag;
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Vec6 _kpForStable;
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Mat6 _Kd;
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double _errorBias;
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};
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#endif // STATETEACH_H
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