本文整理汇总了C++中Finger::move方法的典型用法代码示例。如果您正苦于以下问题：C++ Finger::move方法的具体用法？C++ Finger::move怎么用？C++ Finger::move使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Finger的用法示例。
在下文中一共展示了Finger::move方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main( int argc, char **argv, char **envp)
{
readDrawPoints();
//readTrace();
bool run =true;//
if(run){
init_LuoLita_1();
LitaHand.GripperMove_Abs_To(75.0f, 1);
// for periodic timer code
LARGE_INTEGER liPeriod_1ms; // timer period
HANDLE hTimer1; // timer handle
//LARGE_INTEGER liPeriod_10ms; // timer period
//HANDLE hTimer2; // timer handle
// RTX periodic timer code:
// TO DO: Set default timer period to your desired time.
// The period needs to be an even multiple of the HAL
// period found in the control panel.
// This example uses a period of 500 micro seconds.
liPeriod_1ms.QuadPart = 10000;
//liPeriod_10ms.QuadPart = 100000;
Init_IMPCard();
// clear timer
//RtDeleteTimer( hTimer1 );
//RtDeleteTimer( hTimer2 );
// Create a periodic timer
if (! (hTimer1 = RtCreateTimer(
NULL, // security
0, // stack size - 0 uses default
TimerHandler1, // timer handler
NULL, // NULL context (argument to handler)
RT_PRIORITY_MAX, // priority
CLOCK_2) )) // RTX HAL timer
{
//
// TO DO: exception code here
// RtWprintf(L"RtCreateTimer error = %d\n",GetLastError());
ExitProcess(1);
}
if (! RtSetTimerRelative( hTimer1, &liPeriod_1ms, &liPeriod_1ms ))
{
//RtWprintf(L"RtSetTimerRelative error = %d\n",GetLastError());
// TO DO: exception code here
ExitProcess(1);
}
init_LuoLita_2();
LitaHand.GripperMove_Abs_To( 55.0f, 200);
/////////////////////////////////////////
kbCmd = 'j';
MainLoop_keyboard();
//Initial finger pose
finger.init();
finger.open();
finger.setMode('p');
finger.move(80);
setDefaultArmSpeed(0.5);
kbCmd = ' ';
while(!initialDone)
{
if ( _kbhit() )
kbCmd = _getche();
if ( kbCmd == kb_ESC )
break;
InitialPose_keyboard();
Sleep(29);
system("cls");
DisplayLoop(speed);
cout<<endl<<"first_x: "<<first_x<<"first_y: "<<first_y<<"first_z: "<<first_z<<endl;
}
cout<< endl << " Initialization is done . " <<endl;
Sleep(2000);
T << -1.0f, 0.0f, 0.0f, first_x, //
0.0f, 1.0f, 0.0f, first_y+0.1, //
0.0f, 0.0f, -1.0f, first_z+0.13, //-0.2726
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);}
T << -1.0f, 0.0f, 0.0f, centerX, //
0.0f, 1.0f, 0.0f, centerY, //
0.0f, 0.0f, -1.0f, 0.0f, //
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){};
kbCmd = ' ';
while(1)
{
if ( _kbhit() )
//.........这里部分代码省略.........
示例2: InitialPose_keyboard
//***
void InitialPose_keyboard(){
switch( kbCmd ){
case '-':
if(speed>0.2) speed-=(float)0.1;
setDefaultArmSpeed(speed);
break;
case '+':
if(speed<1.2) speed+=(float)0.1;
setDefaultArmSpeed(speed);
break;
case 'a':
t << -0.001f,0,0,0,0,0;
Move_L_Rel(t,0);
first_x = T07Cmd(0,3);
break;
case 'd':
t << 0.001f,0,0,0,0,0;
Move_L_Rel(t,0);
first_x = T07Cmd(0,3);
break;
case 'w':
t << 0,0.001f,0,0,0,0;
Move_L_Rel(t,0);
first_y = T07Cmd(1,3);
break;
case 's':
t << 0,-0.001f,0,0,0,0;
Move_L_Rel(t,0);
first_y = T07Cmd(1,3);
break;
case 'r':
t << 0,0,0.01f,0,0,0;
Move_L_Rel(t,0);
while(MOVL){};
first_z = T07Cmd(2,3);
break;
case 'f':
t << 0,0,-0.01f,0,0,0;
Move_L_Rel(t,0);
while(MOVL){};
first_z = T07Cmd(2,3);
break;
case 'z':
T << -1.0f, 0.0f, 0.0f, first_x, //
0.0f, 1.0f, 0.0f, first_y, //
0.0f, 0.0f, -1.0f, first_z, //-0.2726
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls");
DisplayLoop(speed);}
break;
case 'j':
t << -0.11f,0,0,0,0,0;
Move_L_Rel(t,0);
break;
case 'l':
t << 0.11f,0,0,0,0,0;
Move_L_Rel(t,0);
break;
case 'i':
t << 0,0.08f,0,0,0,0;
Move_L_Rel(t,0);
break;
case 'k':
t << 0,-0.08f,0,0,0,0;
Move_L_Rel(t,0);
break;
case 'b':
t << 0,0,-0.12f,0,0,0;
Move_L_Rel(t,0);
while(MOVL){};
finger.close();
t << 0,0,0.12f,0,0,0;
Move_L_Rel(t,0);
break;
case 'n':
finger.move(80);
break;
case 'o':
outputFile.open("trace.txt");
write=true;
t << 0.10f,0,0,0,0,0;
Move_L_Rel(t,0);
while(MOVL){};
write=false;
outputFile.close();
break;
case 'm':
Move_Contour();
break;
case 'p':
z_axis_black = -0.20;
//draw edge
T << -1.0f, 0.0f, 0.0f, sketchPositionXY[sketchIndex][0](0), //
0.0f, 1.0f, 0.0f, sketchPositionXY[sketchIndex][0](1), //
0.0f, 0.0f, -1.0f, z_axis_black+(float)0.01, //
0.0f, 0.0f, 0.0f, 1.0f;
//.........这里部分代码省略.........
示例3: MyLoop_keyboard
//.........这里部分代码省略.........
}
break;
case 'p':
// fill every areas
if(fillIndex < fillNumbers){
Vector2f dxy = ColorPosition(fillIndex+1);
// Go to position of pen
T << -1.0f, 0.0f, 0.0f, first_x+dxy(0), //
0.0f, 1.0f, 0.0f, first_y+dxy(1), //
0.0f, 0.0f, -1.0f, first_z, //-0.2726
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);}
// Grasp pen
t << 0,0,-0.12f,0,0,0;
Move_L_Rel(t,0);
while(MOVL){};
finger.close();
t << 0,0,0.20f,0,0,0;
Move_L_Rel(t,0);
while(MOVL){};
// Move to via point position
T << -cos(0.25*M_PI), sin(0.25*M_PI), 0.0f, first_x, //
sin(0.25*M_PI), cos(0.25*M_PI), 0.0f, first_y+0.1, //
0.0f, 0.0f, -1.0f, first_z+0.13, //-0.2726
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);}
// Go to center
T << -cos(0.25*M_PI), sin(0.25*M_PI), 0.0f, centerX, //
sin(0.25*M_PI), cos(0.25*M_PI), 0.0f, centerY, //
0.0f, 0.0f, -1.0f, 0.0f, //
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);}
T << -cos(0.25*M_PI), sin(0.25*M_PI), 0.0f, fill_pos_x[fillIndex][0][0], //
sin(0.25*M_PI), cos(0.25*M_PI), 0.0f, fill_pos_y[fillIndex][0][0], //
0.0f, 0.0f, -1.0f, z_axis_color+(float)0.01, //
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);}
for(unsigned int i=0;i<fill_pos_x[fillIndex].size();i++){
// move to the top of first point of every area
T << -cos(0.25*M_PI), sin(0.25*M_PI), 0.0f, fill_pos_x[fillIndex][i][0], //
sin(0.25*M_PI), cos(0.25*M_PI), 0.0f, fill_pos_y[fillIndex][i][0], //
0.0f, 0.0f, -1.0f, z_axis_color+(float)0.005, //
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);};
for(unsigned int j=0;j<fill_pos_x[fillIndex][i].size();j++){
T << -cos(0.25*M_PI), sin(0.25*M_PI), 0.0f, fill_pos_x[fillIndex][i][j], //
sin(0.25*M_PI), cos(0.25*M_PI), 0.0f, fill_pos_y[fillIndex][i][j], //
0.0f, 0.0f, -1.0f, z_axis_color, //
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);}
}
}
T << -cos(0.25*M_PI), sin(0.25*M_PI), 0.0f, fill_pos_x[fillIndex][fill_pos_x[fillIndex].size()-1][0], //
sin(0.25*M_PI), cos(0.25*M_PI), 0.0f, fill_pos_y[fillIndex][fill_pos_x[fillIndex].size()-1][0], //
0.0f, 0.0f, -1.0f, z_axis_color+(float)0.01, //
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);}
fillIndex++;
// Move to pen box position
T << -1.0f, 0.0f, 0.0f, first_x, //
0.0f, 1.0f, 0.0f, first_y+0.13, //
0.0f, 0.0f, -1.0f, first_z+0.13, //-0.2726
0.0f, 0.0f, 0.0f, 1.0f;
Move_L_Abs(T,0);
while(MOVL){system("cls"); DisplayLoop(speed);}
// Drop pen
t << 0,0,-0.11f,0,0,0;
Move_L_Rel(t,0);
while(MOVL){};
finger.move(80);
t << 0,0,0.11f,0,0,0;
Move_L_Rel(t,0);
}
break;
case 'b':
finger.close();
break;
case 'n':
finger.move(80);
break;
}
kbCmd_3 = kbCmd;
kbCmd = ' ';
}