Revision 07e68eb7 examples/humotion_yarp_icub/src/icub_jointinterface.cpp
| examples/humotion_yarp_icub/src/icub_jointinterface.cpp | ||
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| 131 | 131 |
enum_id_bimap_t::const_iterator it; |
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for (it = enum_id_bimap.begin(); it != enum_id_bimap.end(); ++it) {
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int id = it->left; |
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pv_mix_pid_p_[id] = 15.5;
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pv_mix_pid_p_[id] = 5.5; |
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pv_mix_pid_d_[id] = 0.3; |
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pv_mix_last_error_[id] = 0.0; |
| 137 | 137 |
} |
| ... | ... | |
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float target_position_pan = (target_position_right + target_position_left) / 2; |
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float target_position_vergence = (target_position_right - target_position_left); |
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cout << "LR " << target_position_left << " " << target_position_right << |
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" PAN " << target_position_pan << " VERGENCE " << target_position_vergence << "\n"; |
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/*cout << "LR " << target_position_left << " " << target_position_right <<
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" PAN " << target_position_pan << " VERGENCE " << target_position_vergence << "\n";*/
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// calculate target velocities |
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// for now just use the same velocity for pan and vergence |
| ... | ... | |
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//! \param id of joint |
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//! \param float value of position |
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void iCubJointInterface::store_icub_joint_target(int icub_id, float position, float velocity) {
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cout << "store_icub_joint_target(" << icub_id << ", " << position << ", ..)\n";
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//cout << "store_icub_joint_target(" << icub_id << ", " << position << ", ..)\n";
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if ((icub_id == ICUB_ID_NECK_PAN) || (icub_id == ICUB_ID_EYES_VERGENCE)) {
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// icub uses an inverted neck pan specification |
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