OmniWheel.h
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00001 // -*- mode: c++; indent-tabs-mode: nil; c-basic-offset: 4; tab-width: 4; -*-
00002 #ifndef __OMNI_WHEEL_H__
00003 #define __OMNI_WHEEL_H__
00004 
00005 #include "Mobility.h"
00006 #include "Configuration.h"
00007 
00008 namespace PathEngine {
00009     class PathPlanner;
00010 
00011     /*
00012      * @brief
00013      */
00014     class OmniWheel : public Mobility {
00015     public:
00020         OmniWheel(PathPlanner* planner) : Mobility(planner) {}
00021 
00025         Configuration interpolate(const Configuration& from, const Configuration& to, double ratio) const;
00026       
00030         double distance(const Configuration& from, const Configuration& to) const;
00031 
00035         bool isReversible() const { return true; }
00036     };
00037 };
00038 #endif


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:18