Klamp't
0.8.1
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A base class for the path sending callback. Send is called by the planner to update the path used by the execution thread. More...
#include <RealTimePlanner.h>
Public Member Functions | |
virtual bool | Send (Real tplanstart, Real tcut, const ParabolicRamp::DynamicPath &path)=0 |
A base class for the path sending callback. Send is called by the planner to update the path used by the execution thread.
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pure virtual |
Splice in path at time tcut, where tcut is relative to the time at which planning was initiated, and tplanstart is the time the planning started.
If the update isn't received at a valid time < tplanstart + tcut, then Send should return false.