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Humanoid Path Planner
hpp-core
Commits
75edd31e
Commit
75edd31e
authored
Aug 18, 2010
by
florent
Browse files
Read dof bounds of robot in kxml file and set ChppHumanoidRobot bounds
* src/humanoid-robot.cc.
parent
c89e5ade
Changes
1
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src/humanoid-robot.cc
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75edd31e
...
...
@@ -415,6 +415,20 @@ HumanoidRobot::buildKinematicChain(ChppHumanoidRobotShPtr inRobot,
" is neither of type FreeflyerJoint, RotationJoint nor TranslationJoint."
;
throw
exception
(
message
);
}
// Set joint bounds
for
(
unsigned
int
iDof
=
0
;
iDof
<
kxmlJoint
->
kwsJoint
()
->
countDofs
();
iDof
++
)
{
bool
isBounded
=
kxmlJoint
->
kwsJoint
()
->
dof
(
iDof
)
->
isBounded
();
double
vmin
=
kxmlJoint
->
kwsJoint
()
->
dof
(
iDof
)
->
vmin
();
double
vmax
=
kxmlJoint
->
kwsJoint
()
->
dof
(
iDof
)
->
vmax
();
hppJoint
->
kppJoint
()
->
kwsJoint
()
->
dof
(
iDof
)
->
isBounded
(
isBounded
);
hppJoint
->
kppJoint
()
->
kwsJoint
()
->
dof
(
iDof
)
->
vmin
(
vmin
);
hppJoint
->
kppJoint
()
->
kwsJoint
()
->
dof
(
iDof
)
->
vmax
(
vmax
);
hppJoint
->
jrlJoint
()
->
lowerBound
(
iDof
,
vmin
);
hppJoint
->
jrlJoint
()
->
upperBound
(
iDof
,
vmax
);
}
// Register joint in map
jointMap_
[
inJoint
->
name
()]
=
hppJoint
;
...
...
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