1 #ifndef ROBOT_INTERFACE_H 2 #define ROBOT_INTERFACE_H 4 #include <Klampt/Modeling/Robot.h> 5 #include <Klampt/Modeling/DynamicPath.h> 6 #include <Klampt/Control/PathController.h> 32 enum MotionResult { Success, InvalidParams, FailedCheck, TransmitError };
36 virtual bool HadExternalChange()=0;
37 virtual Real GetCurTime()=0;
38 virtual void GetCurConfig(Config& x)=0;
39 virtual void GetCurVelocity(Config& dx)=0;
40 virtual Real GetEndTime()=0;
41 virtual void GetEndConfig(Config& x)=0;
42 virtual void GetEndVelocity(Config& dx)=0;
43 virtual void GetConfig(Real t,Config& x)=0;
44 virtual MotionResult SendMilestone(
const Config& x)=0;
45 virtual MotionResult SendMilestoneImmediate(
const Config& x)=0;
59 virtual bool HadExternalChange();
60 virtual Real GetCurTime();
61 virtual void GetCurConfig(Config& x);
62 virtual void GetCurVelocity(Config& dx);
63 virtual Real GetEndTime();
64 virtual void GetEndConfig(Config& x);
65 virtual void GetEndVelocity(Config& dx);
66 virtual void GetConfig(Real t,Config& x);
67 virtual MotionResult SendMilestone(
const Config& x);
68 virtual MotionResult SendMilestoneImmediate(
const Config& x);
Definition: RobotInterface.h:29
A motion queue that runs on a piecewise polynomial path. Can be commanded to reach configurations (wi...
Definition: PathController.h:38
A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps.
Definition: DynamicPath.h:114
A MotionQueueInterface that just sends to a PolynomialMotionQueue.
Definition: RobotInterface.h:53
Definition: ContactDistance.h:6