33 lines
960 B
C++
Executable File
33 lines
960 B
C++
Executable File
#ifndef JOINTSPACETRAJ_H
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#define JOINTSPACETRAJ_H
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#include <vector>
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#include <trajectory/Trajectory.h>
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#include <string>
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#include "control/CtrlComponents.h"
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#include "trajectory/SCurve.h"
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class JointSpaceTraj : public Trajectory{
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public:
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JointSpaceTraj(CtrlComponents *ctrlComp);
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~JointSpaceTraj(){}
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bool getJointCmd(Vec6 &q, Vec6 &qd);
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bool getJointCmd(Vec6 &q, Vec6 &qd, double &gripperQ, double &gripperQd);
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void setGripper(double startQ, double endQ, double speed = M_PI);
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void setJointTraj(Vec6 startQ, Vec6 endQ, double speed);
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bool setJointTraj(Vec6 startQ, std::string endName, double speed);
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bool setJointTraj(std::string startName, std::string endName, double speed);
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private:
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void _generateA345(double pathTime);
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SCurve _jointCurve;
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const double ddQMax = 15.0;
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const double dddQMax = 30.0;
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double _a3, _a4, _a5, _s, _sDot;
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};
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#endif // JOINTSPACETRAJ_H
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