本文整理汇总了C++中IPositionControl::getRefAcceleration方法的典型用法代码示例。如果您正苦于以下问题：C++ IPositionControl::getRefAcceleration方法的具体用法？C++ IPositionControl::getRefAcceleration怎么用？C++ IPositionControl::getRefAcceleration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IPositionControl的用法示例。
在下文中一共展示了IPositionControl::getRefAcceleration方法的2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
//.........这里部分代码省略.........
break;
case VOCAB_REFERENCES: {
pid->getReferences(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCES).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEEDS: {
pos->getRefSpeeds(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEED: {
double ref_speed;
int j = p.get(2).asInt();
pos->getRefSpeed(j,&ref_speed);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf ("%.2f ", ref_speed);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATION: {
double ref_acc;
int j = p.get(2).asInt();
pos->getRefAcceleration(j,&ref_acc);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf ("%.2f ", ref_acc);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATIONS: {
pos->getRefAccelerations(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_AMP_CURRENTS: {
amp->getCurrents(tmp);
printf ("%s: (", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
}
break;
case VOCAB_SET:
switch(p.get(1).asVocab()) {
case VOCAB_POSITION_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: moving %d to %.2f\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str(), j, ref);示例2: calibrate
bool SpringyFingersModel::calibrate(const Property &options)
{
if (configured)
{
IControlMode2 *imod; driver.view(imod);
IControlLimits *ilim; driver.view(ilim);
IEncoders *ienc; driver.view(ienc);
IPositionControl *ipos; driver.view(ipos);
int nAxes; ienc->getAxes(&nAxes);
Vector qmin(nAxes),qmax(nAxes),vel(nAxes),acc(nAxes);
printMessage(1,"steering the hand to a suitable starting configuration\n");
for (int j=7; j<nAxes; j++)
{
imod->setControlMode(j,VOCAB_CM_POSITION);
ilim->getLimits(j,&qmin[j],&qmax[j]);
ipos->getRefAcceleration(j,&acc[j]);
ipos->getRefSpeed(j,&vel[j]);
ipos->setRefAcceleration(j,1e9);
ipos->setRefSpeed(j,60.0);
ipos->positionMove(j,(j==8)?qmax[j]:qmin[j]); // thumb in opposition
}
printMessage(1,"proceeding with the calibration\n");
Property &opt=const_cast<Property&>(options);
string tag=opt.check("finger",Value("all")).asString().c_str();
if (tag=="thumb")
{
calibrateFinger(fingers[0],10,qmin[10],qmax[10]);
}
else if (tag=="index")
{
calibrateFinger(fingers[1],12,qmin[12],qmax[12]);
}
else if (tag=="middle")
{
calibrateFinger(fingers[2],14,qmin[14],qmax[14]);
}
else if (tag=="ring")
{
calibrateFinger(fingers[3],15,qmin[15],qmax[15]);
}
else if (tag=="little")
{
calibrateFinger(fingers[4],15,qmin[15],qmax[15]);
}
else if ((tag=="all") || (tag=="all_serial"))
{
calibrateFinger(fingers[0],10,qmin[10],qmax[10]);
calibrateFinger(fingers[1],12,qmin[12],qmax[12]);
calibrateFinger(fingers[2],14,qmin[14],qmax[14]);
calibrateFinger(fingers[3],15,qmin[15],qmax[15]);
calibrateFinger(fingers[4],15,qmin[15],qmax[15]);
}
else if (tag=="all_parallel")
{
CalibThread thr[5];
thr[0].setInfo(this,fingers[0],10,qmin[10],qmax[10]);
thr[1].setInfo(this,fingers[1],12,qmin[12],qmax[12]);
thr[2].setInfo(this,fingers[2],14,qmin[14],qmax[14]);
thr[3].setInfo(this,fingers[3],15,qmin[15],qmax[15]);
thr[4].setInfo(this,fingers[4],15,qmin[15],qmax[15]);
thr[0].start(); thr[1].start(); thr[2].start();
thr[3].start(); thr[4].start();
bool done=false;
while (!done)
{
done=true;
for (int i=0; i<5; i++)
{
done&=thr[i].isDone();
if (thr[i].isDone() && thr[i].isRunning())
thr[i].stop();
}
Time::delay(0.1);
}
}
else
{
printMessage(1,"unknown finger request %s\n",tag.c_str());
return false;
}
for (int j=7; j<nAxes; j++)
{
ipos->setRefAcceleration(j,acc[j]);
ipos->setRefSpeed(j,vel[j]);
}
return true;
}
else
return false;
}