Revision e50b15da examples/meka/src/mekajointinterface.cpp

View differences:

examples/meka/src/mekajointinterface.cpp
141 141 
//! set the target position of a joint
142 142 
//! \param enum id of joint
143 143 
//! \param float value
144 
void MekaJointInterface::publish_target_position(int e){
144 
void MekaJointInterface::publish_target(int e, float position, float velocity){
145 145 
   //we do this in execute motion for all joints at once...
146 146 
}
147 147 

  		




  ......




  155
  155
  
    
        msg.joint_names.push_back("head_j1");


  		




  156
  156
  
    

  		




  157
  157
  
    
        trajectory_msgs::JointTrajectoryPoint p;


  		




  158
  
  
    
        p.positions.push_back(joint_target[ID_NECK_TILT] * M_PI / 180.0);


  		




  
  158
  
    
        p.positions.push_back(get_target_position(ID_NECK_TILT) * M_PI / 180.0);


  		




  159
  159
  
    
        //pan joint is inverted!


  		




  160
  
  
    
        p.positions.push_back(-joint_target[ID_NECK_PAN] * M_PI / 180.0);


  		




  
  160
  
    
        p.positions.push_back(-get_target_position(ID_NECK_PAN) * M_PI / 180.0);


  		




  161
  161
  
    
        //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]);


  		




  162
  162
  
    

  		




  163
  163
  
    
        p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);


  		












Also available in:  Unified diff