39 MotionGenerator(
double speed_factor,
const std::array<double, 7> q_goal);
52 using Vector7d = Eigen::Matrix<double, 7, 1, Eigen::ColMajor>;
53 using Vector7i = Eigen::Matrix<int, 7, 1, Eigen::ColMajor>;
55 bool calculateDesiredValues(
double t, Vector7d* delta_q_d)
const;
56 void calculateSynchronizedValues();
58 static constexpr
double kDeltaQMotionFinished = 1e-6;
59 const Vector7d q_goal_;
64 Vector7d dq_max_sync_;
72 Vector7d dq_max_ = (Vector7d() << 2.0, 2.0, 2.0, 2.0, 2.5, 2.5, 2.5).finished();
73 Vector7d ddq_max_start_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
74 Vector7d ddq_max_goal_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();