25 #include <ArmarXCore/interface/core/BasicTypes.ice>
26 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
27 #include <RobotAPI/interface/core/Trajectory.ice>
37 void start(
string mpName, Ice::DoubleSeq startVec, Ice::DoubleSeq goalVec,
double durationSec);
38 void stop(
string mpName);
39 void pause(
string mpName);
40 void resume(
string mpName);
41 void reset(
string mpName);
42 bool isFinished(
string mpName);
45 void learnFromCSV(Ice::StringSeq fileNames);
48 void setGoal(Ice::DoubleSeq goals);
49 void setStartAndGoal(Ice::DoubleSeq starts, Ice::DoubleSeq goals);
50 void setViaPoint(
double u, Ice::DoubleSeq viapoint);
51 void removeAllViaPoint();
57 Ice::DoubleSeq deserialize(
string mpAsString);
60 double getCanVal(
string mpName);