00001 #ifndef FORCETRAJECTORY_H 00002 #define FORCETRAJECTORY_H 00003 #include "robodyn_controllers/TreeIkTrajectory.h" 00004 #include "robodyn_controllers/Cartesian_HybCntrl.h" 00005 #include "nasa_common_logging/Logger.h" 00006 00007 class ForceTrajectory : public TreeIkTrajectory 00008 { 00009 public: 00010 ForceTrajectory(); 00011 virtual ~ForceTrajectory() {} 00012 00013 void setCartesianHybCntrl(boost::shared_ptr<Cartesian_HybCntrl> forceController_in) 00014 { 00015 forceController = forceController_in; 00016 } 00017 00024 virtual void getPose(double time, KDL::JntArrayAcc& pose); 00025 void printFrame(std::string name, KDL::Frame frame); 00026 00027 protected: 00028 boost::shared_ptr<Cartesian_HybCntrl> forceController; 00029 double lastTime; 00030 std::string logCategory; 00031 }; 00032 00033 #endif // FORCETRAJECTORY_H