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22 lines
518 B
22 lines
518 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 <unsigned SIZE>
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BangBangJointTrajectroy<SIZE>::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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)
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{
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Vec< float, SIZE> velocity = jointMovement / steps_ * 1.5f;
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//TODO
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LinearJointTrajectory(
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steps_,
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totalTime_,
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jointMovement,
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velocity);
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}
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