Revision ade7a207 examples/meka/src/mekajointinterface.cpp
examples/meka/src/mekajointinterface.cpp | ||
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if (id == ID_NECK_PAN){ |
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//joint is inverted |
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JointInterface::store_incoming_position(id, -180.0 / M_PI * msg.position[i], timestamp); |
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JointInterface::store_incoming_speed( id, -180.0 / M_PI * msg.velocity[i], timestamp);
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JointInterface::store_incoming_velocity(id, -180.0 / M_PI * msg.velocity[i], timestamp);
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}else if (id == ID_NECK_TILT){ |
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JointInterface::store_incoming_position(id, 180.0 / M_PI * msg.position[i], timestamp); |
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JointInterface::store_incoming_speed( id, 180.0 / M_PI * msg.velocity[i], timestamp);
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JointInterface::store_incoming_velocity(id, 180.0 / M_PI * msg.velocity[i], timestamp);
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} |
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} |
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} |
... | ... | |
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void MekaJointInterface::store_dummy_data(int id, double timestamp){ |
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JointInterface::store_incoming_position(id, 0.0, timestamp); |
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JointInterface::store_incoming_speed(id, 0.0, timestamp);
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JointInterface::store_incoming_velocity(id, 0.0, timestamp);
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} |
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//! constructor |
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