joint_velocity_waypoint_motion.hpp

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#pragma once
 
#include <franka/robot_state.h>
 
#include <atomic>
#include <optional>
#include <ruckig/ruckig.hpp>
 
#include "franky/joint_state.hpp"
#include "franky/motion/velocity_waypoint_motion.hpp"
 
namespace franky {
 
class JointVelocityWaypointMotion : public VelocityWaypointMotion<franka::JointVelocities, Vector7d> {
 public:
  explicit JointVelocityWaypointMotion(
      const std::vector<VelocityWaypoint<Vector7d>> &waypoints,
      const RelativeDynamicsFactor &relative_dynamics_factor = 1.0);
 
 protected:
  void checkWaypoint(const VelocityWaypoint<Vector7d> &waypoint) const override;
 
  void initWaypointMotion(
      const RobotState &robot_state, const std::optional<franka::JointVelocities> &previous_command,
      ruckig::InputParameter<7> &input_parameter) override;
 
  void setNewWaypoint(
      const RobotState &robot_state, const std::optional<franka::JointVelocities> &previous_command,
      const VelocityWaypoint<Vector7d> &new_waypoint, ruckig::InputParameter<7> &input_parameter) override;
 
  [[nodiscard]] std::tuple<Vector7d, Vector7d, Vector7d> getAbsoluteInputLimits() const override;
 
  [[nodiscard]] franka::JointVelocities getControlSignal(
      const RobotState &robot_state, const franka::Duration &time_step,
      const std::optional<franka::JointVelocities> &previous_command,
      const ruckig::InputParameter<7> &input_parameter) override;
 
  [[nodiscard]] std::tuple<Vector7d, Vector7d, Vector7d> getDesiredState(const RobotState &robot_state) const override;
};
 
}  // namespace franky