Revision 35b3ca25 src/server/joint_interface.cpp
| src/server/joint_interface.cpp | ||
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//! set joint target position |
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//! \param joint_id of joint |
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//! \param float position |
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void JointInterface::set_target_position(int joint_id, float position, float speed){
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void JointInterface::set_target(int joint_id, float position, float velocity){
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assert(joint_id < JOINT_ID_ENUM_SIZE); |
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//update current value |
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joint_target[joint_id] = position; |
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joint_target_speed[joint_id] = speed;
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joint_target_position_[joint_id] = position;
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joint_target_velocity_[joint_id] = velocity;
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} |
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//! fetch target position |
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//! \param joint_id of joint |
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float JointInterface::get_target_position(int joint_id){
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assert(joint_id < JOINT_ID_ENUM_SIZE); |
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return joint_target[joint_id]; |
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return joint_target_position_[joint_id]; |
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} |
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//! fetch target velocity |
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//! \param joint_id of joint |
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float JointInterface::get_target_velocity(int joint_id){
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assert(joint_id < JOINT_ID_ENUM_SIZE); |
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return joint_target_velocity_[joint_id]; |
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} |
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//! incoming position data |
| ... | ... | |
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gaze_enabled = false; |
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} |
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//! fetch maximum allowable joint position
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//! fetch maximum allowed joint position
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//! \return max position |
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float JointInterface::get_joint_max(int joint_id){
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assert((joint_id > 0) && (joint_id < JOINT_ID_ENUM_SIZE)); |
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return joint_max[joint_id]; |
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} |
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//! fetch minimum allowable joint position
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//! fetch minimum allowed joint position
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//! \return min position |
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float JointInterface::get_joint_min(int joint_id){
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assert((joint_id > 0) && (joint_id < JOINT_ID_ENUM_SIZE)); |
| ... | ... | |
| 253 | 260 |
bool JointInterface::get_joint_position_map_empty(){
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return (joint_ts_position_map.empty()); |
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} |
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//! call the virtual store function with given position and velocities |
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void JointInterface::publish_target(int joint_id) {
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publish_target(joint_id, joint_target_position_[joint_id], joint_target_velocity_[joint_id]); |
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} |
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