joint_velocity_motion.hpp

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#pragma once
 
#include "franky/types.hpp"
#include "franky/motion/joint_velocity_waypoint_motion.hpp"
 
namespace franky {
 
class JointVelocityMotion : public JointVelocityWaypointMotion {
 public:
  explicit JointVelocityMotion(
      const Vector7d &target,
      const franka::Duration &duration = franka::Duration(1000),
      double state_estimate_weight = 0.0,
      const RelativeDynamicsFactor &relative_dynamics_factor = 1.0);
};
 
}  // namespace franky