Revision 1efa78e9

View differences:

examples/yarp_icub/src/icub_jointinterface.cpp
136 136 

  		




  137
  137
  
    

  		




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void iCubJointInterface::run(){


  		




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    iCubDataReceiver *data_receiver = new iCubDataReceiver(1000.0 / MAIN_LOOP_FREQUENCY, iencs, this);


  		




  
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    iCubDataReceiver *data_receiver = new iCubDataReceiver(0.5 * 1000.0 / MAIN_LOOP_FREQUENCY, iencs, this);


  		




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    data_receiver->start();


  		




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}


  		




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      src/server/reflexxes_motion_generator.cpp
    
  





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    reflexxes_position_input->MaxAccelerationVector->VecData[dof] = max_accel;


  		




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    reflexxes_position_input->TargetVelocityVector->VecData[dof]  = 0.0; //target speed is zero (really?)


  		




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    // feed back current pos & velocity


  		




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    reflexxes_position_input->CurrentPositionVector->VecData[dof]  = current_position;


  		




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    reflexxes_position_input->CurrentVelocityVector->VecData[dof]  = current_speed;


  		




  
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    //reflexxes_position_input->CurrentPositionVector->VecData[dof]  = current_position;


  		




  
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    //reflexxes_position_input->CurrentVelocityVector->VecData[dof]  = current_speed;


  		




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    // safety: libreflexxes does not like zero accellerations...


  		




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    if (reflexxes_position_input->MaxAccelerationVector->VecData[dof] == 0.0){


  		




  ......




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    //feed back values:


  		




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    for(int i=0; i<dof_count; i++){


  		




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        //reflexxes_position_input->CurrentPositionVector->VecData[i]     = reflexxes_position_output->NewPositionVector->VecData[i];


  		




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        //reflexxes_position_input->CurrentVelocityVector->VecData[i]     = reflexxes_position_output->NewVelocityVector->VecData[i];


  		




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        //reflexxes_position_input->CurrentAccelerationVector->VecData[i] = reflexxes_position_output->NewAccelerationVector->VecData[i];


  		




  
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        reflexxes_position_input->CurrentPositionVector->VecData[i]     = reflexxes_position_output->NewPositionVector->VecData[i];


  		




  
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        reflexxes_position_input->CurrentVelocityVector->VecData[i]     = reflexxes_position_output->NewVelocityVector->VecData[i];


  		




  
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        reflexxes_position_input->CurrentAccelerationVector->VecData[i] = reflexxes_position_output->NewAccelerationVector->VecData[i];


  		




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    }


  		




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}


  		












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