package com.cmvr.edge.client.model.arm;

import com.cmvr.edge.client.model.EdgeCommonVO;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.EqualsAndHashCode;

/**
 * 机械臂关节速度控制VO
 *
 * @author cmvr-iot
 * @since 2026-07-01
 */
@Data
@EqualsAndHashCode(callSuper = true)
@ApiModel("机械臂关节速度控制参数")
public class EdgeArmSpeedJVO extends EdgeCommonVO {

    @ApiModelProperty(value = "关节速度数组（6个关节速度，单位：rad/s）", required = true)
    private double[] velocities;

    @ApiModelProperty("加速度（单位：rad/s²）")
    private Double acceleration;

    @ApiModelProperty("持续时间（单位：秒）")
    private Double duration;
}
