text: /*
   * Copyright (c) 2020 Intel Corporation
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  /**
   * @file fb_move_relative.hpp
   *
   * Maintainer: Yu Yan <yu.yan@intel.com>
   *
   */
  
  #pragma once
  
  #include <RTmotion/global.hpp>
  #include <RTmotion/fb/fb_axis_motion.hpp>
  
  #include <chrono>
  
  namespace RTmotion
  {
  /**
   * @brief Function block MC_MoveRelative
   * \image html MC_MoveRelative.png width=1000cm
   * \image html MoveRelative_Example.png width=1000cm
   */
  class FbMoveRelative : public FbAxisMotion
  {
  public:
    FbMoveRelative();
    ~FbMoveRelative() = default;
  
    void setDistance(LREAL distance)
    {
      distance_ = distance;
    }
  
    virtual MC_ERROR_CODE onRisingEdgeExecution() override;
  
  private:
    VAR_INPUT LREAL& distance_ = position_;
  };
  }  // namespace RTmotion
  