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Stack Of Tasks
sot-dynamic-pinocchio
Commits
1604125f
Commit
1604125f
authored
Mar 14, 2018
by
Alexis Nicolin
Committed by
Alexis Nicolin
Mar 14, 2018
Browse files
Added createVelocity command
parent
8d6251c5
Changes
2
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Inline
Side-by-side
include/sot-dynamic-pinocchio/dynamic-pinocchio.h
View file @
1604125f
...
...
@@ -253,6 +253,7 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
void
cmd_createJacobianWorldSignal
(
const
std
::
string
&
sig
,
const
std
::
string
&
j
);
void
cmd_createJacobianEndEffectorSignal
(
const
std
::
string
&
sig
,
const
std
::
string
&
j
);
void
cmd_createPositionSignal
(
const
std
::
string
&
sig
,
const
std
::
string
&
j
);
void
cmd_createVelocitySignal
(
const
std
::
string
&
sig
,
const
std
::
string
&
j
);
private:
/// \brief map of joints in construction.
...
...
src/sot-dynamic-pinocchio.cpp
View file @
1604125f
...
...
@@ -210,6 +210,11 @@ DynamicPinocchio( const std::string & name)
"string (signal name)"
,
"string (joint name)"
);
addCommand
(
"createPosition"
,
makeCommandVoid2
(
*
this
,
&
DynamicPinocchio
::
cmd_createPositionSignal
,
docstring
));
docstring
=
docCommandVoid2
(
"Create a velocity (vector) signal only for one joint."
,
"string (signal name)"
,
"string (joint name)"
);
addCommand
(
"createVelocity"
,
makeCommandVoid2
(
*
this
,
&
DynamicPinocchio
::
cmd_createVelocitySignal
,
docstring
));
}
...
...
@@ -1172,3 +1177,8 @@ void DynamicPinocchio::cmd_createPositionSignal( const std::string& signalName,
{
createPositionSignal
(
signalName
,
jointName
);
}
void
DynamicPinocchio
::
cmd_createVelocitySignal
(
const
std
::
string
&
signalName
,
const
std
::
string
&
jointName
)
{
createVelocitySignal
(
signalName
,
jointName
);
}
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