PositionCommandExecutor.hpp

Go to the documentation of this file.

#ifndef AIKIDO_CONTROL_POSITIONCOMANDEXECUTOR_HPP_
#define AIKIDO_CONTROL_POSITIONCOMANDEXECUTOR_HPP_
 
#include <chrono>
#include <future>
 
#include <Eigen/Dense>
 
#include "aikido/common/pointers.hpp"
 
namespace aikido {
namespace control {
 
AIKIDO_DECLARE_POINTERS(PositionCommandExecutor)
 
class PositionCommandExecutor
{
public:
  virtual ~PositionCommandExecutor() = default;
 
  virtual std::future<void> execute(const Eigen::VectorXd& goalPositions) = 0;
 
  virtual void step(const std::chrono::system_clock::time_point& timepoint) = 0;
 
protected:
  std::chrono::system_clock::time_point mTimeOfPreviousCall;
};
 
} // namespace control
} // namespace aikido
 
#endif