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Implemented non-zero velocity joint waypoints
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Original file line number | Diff line number | Diff line change |
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@@ -39,6 +39,7 @@ | |
RobotPose, | ||
RobotVelocity, | ||
CartesianState, | ||
JointState, | ||
CartesianWaypoint, | ||
Affine, | ||
NullSpaceHandling, | ||
|
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,40 @@ | ||
#pragma once | ||
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#include <optional> | ||
#include <Eigen/Core> | ||
#include <utility> | ||
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#include "franky/robot_pose.hpp" | ||
#include "franky/robot_velocity.hpp" | ||
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namespace franky { | ||
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class JointState { | ||
public: | ||
// Suppress implicit conversion warning | ||
#pragma clang diagnostic push | ||
#pragma clang diagnostic ignored "-Wimplicit-conversion" | ||
JointState(Vector7d position) : position_(std::move(position)), velocity_(Vector7d::Zero()) {} | ||
#pragma clang diagnostic pop | ||
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JointState(Vector7d pose, Vector7d velocity) | ||
: position_(std::move(pose)), velocity_(std::move(velocity)) {} | ||
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JointState(const JointState &) = default; | ||
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JointState() = default; | ||
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[[nodiscard]] inline Vector7d position() const { | ||
return position_; | ||
} | ||
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[[nodiscard]] inline Vector7d velocity() const { | ||
return velocity_; | ||
} | ||
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private: | ||
Vector7d position_; | ||
Vector7d velocity_; | ||
}; | ||
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} // namespace franky |
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