本文整理汇总了C++中IPositionControl::setRefAcceleration方法的典型用法代码示例。如果您正苦于以下问题：C++ IPositionControl::setRefAcceleration方法的具体用法？C++ IPositionControl::setRefAcceleration怎么用？C++ IPositionControl::setRefAcceleration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::setRefAcceleration方法的5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: goHome
bool goHome()
{
printMessage(0,"Going home...\n");
yarp::sig::Vector poss(7,0.0);
yarp::sig::Vector vels(7,0.0);
printMessage(1,"Configuring arm...\n");
poss[0]=-30.0; vels[0]=10.0; poss[1]=30.0; vels[1]=10.0;
poss[2]= 00.0; vels[2]=10.0; poss[3]=45.0; vels[3]=10.0;
poss[4]= 00.0; vels[4]=10.0; poss[5]=00.0; vels[5]=10.0;
poss[6]= 00.0; vels[6]=10.0;
for (int i=0; i<7; i++)
{
iposs->setRefSpeed(i,vels[i]);
iposs->positionMove(i,poss[i]);
}
printMessage(1,"Configuring hand...\n");
poss.resize(9,0.0);
vels.resize(9,0.0);
poss[0]=40.0; vels[0]=60.0; poss[1]=10.0; vels[1]=60.0;
poss[2]=60.0; vels[2]=60.0; poss[3]=70.0; vels[3]=60.0;
poss[4]=00.0; vels[4]=60.0; poss[5]=00.0; vels[5]=60.0;
poss[6]=70.0; vels[6]=60.0; poss[7]=100.0; vels[7]=60.0;
poss[8]=240.0; vels[8]=120.0;
for (int i=7; i<nEncs; i++)
{
iposs->setRefAcceleration(i,1e9);
iposs->setRefSpeed(i,vels[i-7]);
iposs->positionMove(i,poss[i-7]);
}
return true;
}示例2: updateModule
bool updateModule()
{
if (calibrate)
{
Property options;
options.put("finger",fingerName.c_str());
model->calibrate(options);
calibrate=false;
ipos->setRefAcceleration(joint,1e9);
if ((fingerName=="ring")||(fingerName=="little"))
ipos->setRefSpeed(joint,60.0);
else
ipos->setRefSpeed(joint,30.0);
ipos->positionMove(joint,*val);
}
else
{
if (Node *finger=model->getNode(fingerName))
{
Value data; finger->getSensorsData(data);
Value out; finger->getOutput(out);
fprintf(stdout,"%s sensors data = %s; output = %s\n",
finger->getName().c_str(),data.toString().c_str(),out.toString().c_str());
}
double fb; ienc->getEncoder(joint,&fb);
if (fabs(*val-fb)<5.0)
{
val==&min?val=&max:val=&min;
ipos->positionMove(joint,*val);
}
}
return true;
}示例3: main
//.........这里部分代码省略.........
}
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);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;示例4: 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;
}示例5: main
//.........这里部分代码省略.........
}
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);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;