Revision 0c8d22a5 include/humotion/server/reflexxes_motion_generator.h

View differences:

include/humotion/server/reflexxes_motion_generator.h
25 25 
* Excellence Initiative.
26 26 
*/
27 27 

  		




  28
  
  
    
#pragma once


  		




  29
  
  
    
#include "motion_generator.h"


  		




  
  28
  
    
#ifndef INCLUDE_HUMOTION_SERVER_REFLEXXES_MOTION_GENERATOR_H_


  		




  
  29
  
    
#define INCLUDE_HUMOTION_SERVER_REFLEXXES_MOTION_GENERATOR_H_


  		




  
  30
  
    

  		




  30
  31
  
    
#include <ReflexxesAPI.h>


  		




  31
  32
  
    
#include <RMLPositionFlags.h>


  		




  32
  33
  
    
#include <RMLPositionInputParameters.h>


  		




  33
  34
  
    
#include <RMLPositionOutputParameters.h>


  		




  34
  35
  
    

  		




  35
  
  
    
namespace humotion{


  		




  36
  
  
    
namespace server{


  		




  
  36
  
    
#include "humotion/server/motion_generator.h"


  		




  
  37
  
    

  		




  
  38
  
    
namespace humotion {


  		




  
  39
  
    
namespace server {


  		




  37
  40
  
    

  		




  38
  41
  
    
class ReflexxesMotionGenerator : public MotionGenerator{


  		




  39
  
  
    
public:


  		




  
  42
  
    
 public:


  		




  40
  43
  
    
    ReflexxesMotionGenerator(JointInterface *j, int dof, float t);


  		




  41
  44
  
    
    ~ReflexxesMotionGenerator();


  		




  42
  45
  
    

  		




  43
  
  
    
protected:


  		




  44
  
  
    
    void reflexxes_set_input(int dof, float target, float current_position, float current_speed, Timestamp timestamp, float max_speed, float max_accel);


  		




  
  46
  
    
 protected:


  		




  
  47
  
    
    void reflexxes_set_input(int dof, float target,


  		




  
  48
  
    
                             float current_position, float current_velocity,


  		




  
  49
  
    
                             Timestamp timestamp, float max_speed, float max_accel);


  		




  45
  50
  
    
    void reflexxes_calculate_profile();


  		




  46
  51
  
    

  		




  47
  52
  
    
    //*****************************************


  		




  ......




  52
  57
  
    
    //*****************************************


  		




  53
  58
  
    
    int dof_count;


  		




  54
  59
  
    

  		




  55
  
  
    
private:


  		




  56
  
  
    

  		




  
  60
  
    
 private:


  		




  57
  61
  
    
};


  		




  58
  62
  
    

  		




  59
  
  
    
}


  		




  60
  
  
    
}


  		




  
  63
  
    
}  // namespace server


  		




  
  64
  
    
}  // namespace humotion


  		




  
  65
  
    

  		




  
  66
  
    
#endif  // INCLUDE_HUMOTION_SERVER_REFLEXXES_MOTION_GENERATOR_H_


  		












Also available in:  Unified diff