joint_motion.hpp

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#pragma once
 
#include <atomic>
#include <optional>
#include <ruckig/ruckig.hpp>
 
#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,
      ReferenceType reference_type,
      RelativeDynamicsFactor relative_dynamics_factor,
      bool return_when_finished);
};
 
}  // namespace franky