24 lines
765 B
C++
24 lines
765 B
C++
#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(){}
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bool setEndLineTraj(Vec6 startP, Vec6 endP, double speed);
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bool setEndLineTraj(HomoMat startHomo, Vec3 deltaPos, Vec3 deltaOri, double speed);
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bool setEndLineTraj(std::string stateName, Vec3 deltaPos, Vec3 deltaOri, double speed);
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bool setEndLineTraj(std::string startName, std::string endName, double speed);
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private:
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bool _getEndTraj(HomoMat &homo, Vec6 &twist);
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Vec3 _currentDistance, _currentAngle, _omgtheta;
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Mat3 _startR, _endR, _delatR, _currentR;
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Vec3 _startp, _endp, _deltap, _currentp;
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};
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#endif |