joint_motion.hpp

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#pragma once
 
#include "franky/joint_state.hpp"
#include "franky/motion/joint_waypoint_motion.hpp"
#include "franky/motion/reference_type.hpp"
 
namespace franky {
 
class JointMotion : public JointWaypointMotion {
 public:
  explicit JointMotion(
      const JointState &target,
      double state_estimate_weight = 0.0,
      ReferenceType reference_type = ReferenceType::kAbsolute,
      const RelativeDynamicsFactor &relative_dynamics_factor = 1.0,
      bool return_when_finished = true);
};
 
}  // namespace franky