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32 lines
958 B
32 lines
958 B
#include <stdlib.h>
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#include <math.h>
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#include "Trajectroy.h"
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#include "BangBangTrajectroy.h"
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#include "vec.h"
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#include "SvrData.h"
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template <class T, unsigned SIZE>
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BangBangJointTrajectroy::BangBangJointTrajectroy(
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unsigned int steps_,
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float totalTime_,
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Vec<float,SIZE> jointMovement,
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Vec<float,SIZE> maxJointRange,
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Vec<float,SIZE> maxJointVelocityPerStep,
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Vec<float,SIZE> maxJointAccelarationPerStep
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)
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{
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super(steps_, totalTime_, jointMovement, maxJointVelocityPerStep, maxJointAccelarationPerStep);
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//unused
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(void) maxJointRange;
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Vec<float,LBR_MNJ> currentInk(0.0f);
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Vec<float,LBR_MNJ> currentInkLast(0.0f);
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Vec<float,LBR_MNJ> currentDist(0.0f);
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Vec<float,LBR_MNJ> currentDistLast(0.0f);
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for (unsigned int currStep = 0 ; currStep < steps ; ++currStep)
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{
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for (unsigned int currJoint = 0 ; currJoint < joints ; currJoint++)
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{
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}
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}
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}
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