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Update the interface to use the new motion generation class

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Juancho
2023-06-27 15:09:17 +09:00
parent c04c20542b
commit fac3db693e
3 changed files with 74 additions and 1 deletions
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7
include/custom_motion_generation.h
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@@ -83,14 +83,21 @@ private:
int _get_dimensions(const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, const Eigen::VectorXd &q3) const;
void _check_speed_factor(const double& speed_factor) const;
public:
CustomMotionGeneration(const double &speed_factor,
const Eigen::VectorXd &q_initial,
const Eigen::VectorXd &q_dot_initial,
const Eigen::VectorXd &q_goal);
CustomMotionGeneration(const double &speed_factor,
const Eigen::VectorXd &q_dot_initial,
const Eigen::VectorXd &q_dot_goal);
void set_proportional_gain(const double& gain);
VectorXd compute_new_configuration(const VectorXd& q_goal, const double& T);
VectorXd compute_new_configuration_velocities(const VectorXd& q_dot_goal, const double& T);
};