24 #include <VirtualRobot/Robot.h>
25 #include <VirtualRobot/VirtualRobot.h>
32 #include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
39 class ControlTargetHolonomicPlatformVelocity;
40 class SensorValueHolonomicPlatformWithAbsolutePosition;
61 Eigen::Vector2f
linear = Eigen::Vector2f::Zero();
67 linear = Eigen::Vector2f::Zero();
97 virtual public armarx::control::ConfigurableNJointControllerInterface
100 using ConfigPtrT = control::ConfigurableNJointControllerConfigPtr;
103 const NJointControllerConfigPtr& config,
108 std::string
getClassName(
const Ice::Current& iceCurrent = Ice::emptyCurrent)
const override;
114 const Ice::Current& iceCurrent = Ice::emptyCurrent)
override;
130 Eigen::Isometry3f global_T_robot;
140 std::atomic_bool rtFirstRun =
true;
141 std::atomic_bool rtReady =
false;
145 std::optional<traj_ctrl::global::TrajectoryFollowingController>
146 trajectoryFollowingController;
149 Devices getDevices(
const VirtualRobot::RobotNodeSet& rns);