Takeuchi Issei
/
4Omunisleeve3
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Diff: shared/GCodeMovement/GCodeMovement.h
- Revision:
- 0:ee7e9405e1c7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/GCodeMovement/GCodeMovement.h Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,26 @@
+#ifndef G_CODE_MOVEMENT_H_
+#define G_CODE_MOVEMENT_H_
+
+#include <shared/AutomaticMovement/AutomaticMovement.h>
+#include <shared/GCodeReader/GCodeReader.h>
+#include <queue>
+
+class GCodeMovement : public GCodeReader
+{
+public:
+ GCodeMovement(AutomaticMovement *automatic_movement, Eigen::Vector3d *current_position, Eigen::Vector3d *target_position);
+ virtual ~GCodeMovement(){}
+
+ Eigen::Vector3d move_g_code(Eigen::Vector3d current_position);
+
+ void push_g_code(const std::string g_code);
+ void reset_g_code();
+ void set_near_position(const Eigen::Vector3d &near_position);
+
+private:
+ AutomaticMovement *_automatic_movement;
+ std::queue<std::string> _g_code_list;
+ Eigen::Vector3d _near_position;
+
+};
+#endif