trajectory_finding_client.h

#pragma once
 
 
#include "base_client.h"
 
class TrajectoryFindingClient : public BaseClient {
public:
    static const int COMMAND_IS_READY = 0;
    static const int COMMAND_START_FIND_TRAJECTORY = 1;
    static const int COMMAND_GET_POSITIONS = 2;
    static const int COMMAND_GET_SPEED = 3;
    static const int COMMAND_GET_ACCELERATIONS = 4;
 
    TrajectoryFindingClient(const char *savePath, int lvl) : BaseClient(savePath), _lvl(lvl) {}
 
    void requestReady();
 
    void startFindTrajectory();
 
    void getResult();
 
    void mainLoop() override;
 
    virtual void init(int port, const char *addr, std::vector<double> start, std::vector<double> end, int delay);
 
protected:
 
    std::vector<double> _start;
    std::vector<double> _end;
    int _lvl;
};