19 #ifndef CUSTOM_TRAJECTORY_H_ 20 #define CUSTOM_TRAJECTORY_H_ 22 #if defined(__OPENCR__) 29 using namespace Eigen;
61 virtual void setOption(
const void *arg);
62 virtual void makeTaskTrajectory(
double move_time,
TaskWaypoint start,
const void *arg);
87 void initCircle(
double move_time,
TaskWaypoint start,
double radius,
double revolution,
double start_angular_position);
90 virtual void setOption(
const void *arg);
91 virtual void makeTaskTrajectory(
double move_time,
TaskWaypoint start,
const void *arg);
116 void initRhombus(
double move_time,
TaskWaypoint start,
double radius,
double revolution,
double start_angular_position);
119 virtual void setOption(
const void *arg);
120 virtual void makeTaskTrajectory(
double move_time,
TaskWaypoint start,
const void *arg);
145 void initHeart(
double move_time,
TaskWaypoint start,
double radius,
double revolution,
double start_angular_position);
148 virtual void setOption(
const void *arg);
149 virtual void makeTaskTrajectory(
double move_time,
TaskWaypoint start,
const void *arg);
155 #endif // CUSTOM_TRAJECTORY_H_ robotis_manipulator::MinimumJerk path_generator_
double start_angular_position_
robotis_manipulator::MinimumJerk path_generator_
robotis_manipulator::MinimumJerk path_generator_
std::vector< double > vel_max_
double start_angular_position_
double start_angular_position_