Klamp't
0.8.1
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#include <RobotInterface.h>
Public Types | |
enum | MotionResult { Success, InvalidParams, FailedCheck, TransmitError } |
Public Member Functions | |
virtual bool | HadExternalChange ()=0 |
virtual Real | GetCurTime ()=0 |
virtual void | GetCurConfig (Config &x)=0 |
virtual void | GetCurVelocity (Config &dx)=0 |
virtual Real | GetEndTime ()=0 |
virtual void | GetEndConfig (Config &x)=0 |
virtual void | GetEndVelocity (Config &dx)=0 |
virtual void | GetConfig (Real t, Config &x)=0 |
virtual MotionResult | SendMilestone (const Config &x)=0 |
virtual MotionResult | SendMilestoneImmediate (const Config &x)=0 |
virtual MotionResult | SendPathImmediate (Real tbreak, const ParabolicRamp::DynamicPath &path)=0 |
A unified interface to control either a simulated or real robot, which operates in a motion queue mode.
Subclasses must overload the following methods: