Obbart/universal_robots_ros_driver
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Simon Rasmussen
2017-07-07 15:26:39 +02:00
parent 0479c047d3
commit f35f40b45d
12 changed files with 114 additions and 71 deletions
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3
include/ur_modern_driver/ros/trajectory_follower.h
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@@ -49,12 +49,11 @@ private:
return s;
}
std::string buildProgram();
bool execute(std::array<double, 6> &positions, bool keep_alive);
double interpolate(double t, double T, double p0_pos, double p1_pos, double p0_vel, double p1_vel);
public:
TrajectoryFollower(URCommander &commander, int reverse_port, bool version_3);
TrajectoryFollower(URCommander &commander, std::string& reverse_ip, int reverse_port, bool version_3);
bool start();
bool execute(std::array<double, 6> &positions);