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TSRMotionNode.h
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TSRMotionNode.h
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//
// Created by hejia on 8/6/19.
//
#ifndef WECOOK_TSRMOTIONNODE_H
#define WECOOK_TSRMOTIONNODE_H
#include "MotionNode.h"
namespace wecook {
class TSRMotionNode : public MotionNode {
public:
TSRMotionNode(const aikido::constraint::dart::TSRPtr &goalTSR,
dart::dynamics::BodyNode *bn,
const aikido::constraint::dart::CollisionFreePtr &collisionFree,
const aikido::statespace::dart::MetaSkeletonStateSpacePtr &stateSpace,
const dart::dynamics::MetaSkeletonPtr &skeleton,
const std::shared_ptr<PreCondition> &condition = nullptr,
bool debug = false) : MotionNode(stateSpace, skeleton, condition),
m_goalTSR(goalTSR),
m_collisionFree(collisionFree),
m_bn(bn),
m_debug(debug) {
}
void plan(const std::shared_ptr<ada::Ada> &ada);
void setTimeStep(double timeStep) {
m_retimeTimeStep = timeStep;
}
private:
aikido::constraint::dart::CollisionFreePtr m_collisionFree = nullptr;
dart::dynamics::BodyNode *m_bn = nullptr;
aikido::constraint::dart::TSRPtr m_goalTSR;
bool m_debug;
double m_retimeTimeStep = 0.02;
};
}
#endif //WECOOK_TSRMOTIONNODE_H