base_module_state.h
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4 * Licensed under the Apache License, Version 2.0 (the "License");
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16 
17 #ifndef THORMANG3_BASE_MODULE_BASE_MODULE_STATE_H_
18 #define THORMANG3_BASE_MODULE_BASE_MODULE_STATE_H_
19 
20 #include <eigen3/Eigen/Eigen>
23 
24 namespace thormang3
25 {
26 
28 {
29 public:
32 
33  bool is_moving_;
34 
35  int cnt_; // counter number
36 
37  double mov_time_; // movement time
38  double smp_time_; // sampling time
39 
40  int all_time_steps_; // all time steps of movement time
41 
42  Eigen::MatrixXd calc_joint_tra_; // calculated joint trajectory
43 
44  Eigen::MatrixXd joint_ini_pose_;
45  Eigen::MatrixXd joint_pose_;
46 
47  int via_num_;
48 
49  Eigen::MatrixXd joint_via_pose_;
50  Eigen::MatrixXd joint_via_dpose_;
51  Eigen::MatrixXd joint_via_ddpose_;
52 
53  Eigen::MatrixXd via_time_;
54 };
55 
56 }
57 
58 #endif /* THORMANG3_BASE_MODULE_BASE_MODULE_STATE_H_ */
Eigen::MatrixXd joint_via_dpose_
Eigen::MatrixXd joint_via_ddpose_


thormang3_base_module
Author(s): SCH
autogenerated on Mon Jun 10 2019 15:37:51