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Stack Of Tasks
sot-dynamic-pinocchio
Commits
75ea085d
Unverified
Commit
75ea085d
authored
Mar 15, 2018
by
Rohan Budhiraja
Committed by
GitHub
Mar 15, 2018
Browse files
Merge pull request #31 from ksyy/master
Added createVelocity command
parents
8d6251c5
5a050a1a
Changes
2
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include/sot-dynamic-pinocchio/dynamic-pinocchio.h
View file @
75ea085d
...
...
@@ -253,6 +253,8 @@ 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
);
void
cmd_createAccelerationSignal
(
const
std
::
string
&
sig
,
const
std
::
string
&
j
);
private:
/// \brief map of joints in construction.
...
...
src/sot-dynamic-pinocchio.cpp
View file @
75ea085d
...
...
@@ -210,6 +210,17 @@ 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
));
docstring
=
docCommandVoid2
(
"Create an acceleration (vector) signal only for one joint."
,
"string (signal name)"
,
"string (joint name)"
);
addCommand
(
"createAcceleration"
,
makeCommandVoid2
(
*
this
,
&
DynamicPinocchio
::
cmd_createAccelerationSignal
,
docstring
));
}
...
...
@@ -559,7 +570,7 @@ createAccelerationSignal( const std::string& signame, const std::string& jointNa
=
new
dg
::
SignalTimeDependent
<
dg
::
Vector
,
int
>
(
boost
::
bind
(
&
DynamicPinocchio
::
computeGenericAcceleration
,
this
,
jointId
,
_1
,
_2
),
forwardKinematicsSINTERN
,
"sotDynamicPinocchio("
+
name
+
")::output(
matrixHomo
)::"
+
signame
);
"sotDynamicPinocchio("
+
name
+
")::output(
dg::Vector
)::"
+
signame
);
genericSignalRefs
.
push_back
(
sig
);
signalRegistration
(
*
sig
);
...
...
@@ -1172,3 +1183,13 @@ 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
);
}
void
DynamicPinocchio
::
cmd_createAccelerationSignal
(
const
std
::
string
&
signalName
,
const
std
::
string
&
jointName
)
{
createAccelerationSignal
(
signalName
,
jointName
);
}
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