Revision 10cae485 examples/meka/src/mekajointinterface.cpp

View differences:

examples/meka/src/mekajointinterface.cpp
124 124 

  		




  125
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    trajectory_msgs::JointTrajectoryPoint p;


  		




  126
  126
  
    
    p.positions.push_back(joint_target[ID_NECK_TILT] * M_PI / 180.0);


  		




  127
  
  
    
    p.positions.push_back(joint_target[ID_NECK_PAN] * M_PI / 180.0);


  		




  
  127
  
    
    p.positions.push_back(joint_target[ID_NECK_PAN] * M_PI / 180.0 +0.314);


  		




  
  128
  
    
    printf("targets pan=%4.1f tilt=%4.1f (eye p %4.1f t %4.2f)\n",joint_target[ID_NECK_TILT],joint_target[ID_NECK_PAN],joint_target[ID_EYES_LEFT_LR],joint_target[ID_EYES_BOTH_UD]);


  		




  128
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    p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);


  		




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  ......




  202
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}


  		




  203
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void MekaJointInterface::init_joints(){


  		




  205
  
  
    
    store_min_max(ID_NECK_TILT, -10, 10);


  		




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    store_min_max(ID_NECK_PAN, -10, 10);


  		




  
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    store_min_max(ID_NECK_TILT, -18, 1);


  		




  
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    store_min_max(ID_NECK_PAN, -56, 56);


  		




  207
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    store_min_max(ID_NECK_ROLL, -1, 1);


  		




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    store_min_max(ID_EYES_BOTH_UD, -1, 1);


  		












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