本文整理汇总了C++中IPositionControl::setRefAccelerations方法的典型用法代码示例。如果您正苦于以下问题：C++ IPositionControl::setRefAccelerations方法的具体用法？C++ IPositionControl::setRefAccelerations怎么用？C++ IPositionControl::setRefAccelerations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::setRefAccelerations方法的8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: InitPositionControl
void ReachManager::InitPositionControl(string partName)
{
Property options;
options.put("device", "remote_controlboard");
options.put("local", ("/reach_manager/position_control/" + partName).c_str()); //local port names
string remotePortName = "/" + (string)parameters["robot"]->asString() + "/" + partName + "_arm";
options.put("remote", remotePortName.c_str()); //where we connect to
// create a device
polydrivers[partName] = new PolyDriver(options);
if (!polydrivers[partName]->isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return;
}
IPositionControl *pos;
IEncoders *encs;
if (!(polydrivers[partName]->view(pos) && polydrivers[partName]->view(encs))) {
printf("Problems acquiring interfaces\n");
return;
}
pos->getAxes(&nbJoints[partName]);
Vector encoders;
Vector tmp;
encoders.resize(nbJoints[partName]);
tmp.resize(nbJoints[partName]);
for (int i = 0; i < nbJoints[partName]; i++)
{
tmp[i] = 5.0;
}
pos->setRefAccelerations(tmp.data());
for (int i = 0; i < nbJoints[partName]; i++)
{
tmp[i] = 3.0;
pos->setRefSpeed(i, tmp[i]);
}
}示例2: threadInit
virtual bool threadInit(){
if(!handleParams()){
return false;
}
armPlan = new Port;
armPred = new Port;
armLocJ = new BufferedPort<Vector>;
headLoc = new BufferedPort<Vector>;
armPlan->open("/babbleTrack/plan:o");
armPred->open("/babbleTrack/pred:i");
armLocJ->open("/babbleTrack/arm:o");
headLoc->open("/babbleTrack/head:o");
gsl_rng_env_setup();
T = gsl_rng_default;
r = gsl_rng_alloc(T);
igaze = NULL;
Property options;
options.put("device","gazecontrollerclient");
options.put("remote","/iKinGazeCtrl");
options.put("local","/client/gaze");
clientGazeCtrl = new PolyDriver;
clientGazeCtrl->open(options);
options.clear();
string localPorts = "/babbleTrack/cmd";
string remotePorts = "/" + robotName + "/" + arm + "_arm";
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str());
options.put("remote", remotePorts.c_str());
robotDevice = new PolyDriver;
robotDevice->open(options);
if(clientGazeCtrl->isValid()){
clientGazeCtrl->view(igaze);
}
else{
return false;
}
if (!robotDevice->isValid()){
printf("Device not available. Here are known devices: \n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return false;
}
bool ok;
ok = robotDevice->view(pos);
ok = ok && robotDevice->view(enc);
if (!ok){
printf("Problems acquiring interfaces\n");
return false;
}
pos->getAxes(&nj);
command = new Vector;
tmp = new Vector;
command->resize(nj);
tmp->resize(nj);
for (int i = 0; i < nj; i++) {
(*tmp)[i] = 25.0;
}
pos->setRefAccelerations(tmp->data());
for (int i = 0; i < nj; i++) {
(*tmp)[i] = 20.0;
pos->setRefSpeed(i, (*tmp)[i]);
}
*command = 0;
//set the arm joints to "middle" values
(*command)[0] = -45;
(*command)[1] = 45;
(*command)[2] = 0;
(*command)[3] = 45;
//flex hand
(*command)[4] = 60;
(*command)[7] = 20;
(*command)[10] = 15;
(*command)[11] = 15;
(*command)[12] = 15;
(*command)[13] = 15;
(*command)[14] = 15;
(*command)[15] = 15;
pos->positionMove(command->data());
//.........这里部分代码省略.........
示例3: main
int main(int argc, char *argv[]){
Network yarp;
Port armPlan;
Port armPred;
BufferedPort<Vector> objAngles;
BufferedPort<Vector> armOut;
armPlan.open("/learnedReach/plan");
armPred.open("/learnedReach/pred");
objAngles.open("/learnedReach/loc:i");
armOut.open("/learnedReach/arm:o");
bool fwCvOn = 0;
fwCvOn = Network::connect("/learnedReach/plan","/fwdConv:i");
fwCvOn *= Network::connect("/fwdConv:o","/learnedReach/pred");
if (!fwCvOn){
printf("Please run command:\n ./fwdConv --input /fwdConv:i --output /fwdConv:o\n");
return -1;
}
Property params;
params.fromCommand(argc,argv);
if (!params.check("robot")){
fprintf(stderr, "Please specify robot name\n");
fprintf(stderr, "e.g. --robot icub\n");
return -1;
}
std::string robotName = params.find("robot").asString().c_str();
std::string remotePorts = "/";
remotePorts += robotName;
remotePorts += "/";
if (params.check("arm")){
remotePorts += params.find("arm").asString().c_str();
}
else{
remotePorts += "left";
}
remotePorts += "_arm";
std::string localPorts = "/learnedReach/cmd";
if(!params.check("map")){
fprintf(stderr, "Please specify learned visuomotor map file\n");
fprintf(stderr, "e.g. --map map.dat\n");
return -1;
}
string fName = params.find("map").asString().c_str();
Property options;
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str());
options.put("remote", remotePorts.c_str());
PolyDriver robotDevice(options);
if (!robotDevice.isValid()){
printf("Device not available. Here are known devices: \n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return 1;
}
IPositionControl *pos;
IEncoders *enc;
bool ok;
ok = robotDevice.view(pos);
ok = ok && robotDevice.view(enc);
if (!ok){
printf("Problems acquiring interfaces\n");
return 0;
}
int nj = 0;
pos->getAxes(&nj);
Vector encoders;
Vector command;
Vector commandCart;
Vector tmp;
encoders.resize(nj);
tmp.resize(nj);
command.resize(nj);
commandCart.resize(3);
for (int i = 0; i < nj; i++) {
tmp[i] = 25.0;
}
pos->setRefAccelerations(tmp.data());
for (int i = 0; i < nj; i++) {
tmp[i] = 20.0;
pos->setRefSpeed(i, tmp[i]);
}
command = 0;
//set the arm joints to "middle" values
command[0] = -45;
command[1] = 45;
command[2] = 0;
command[3] = 45;
pos->positionMove(command.data());
//.........这里部分代码省略.........
示例4: main
//.........这里部分代码省略.........
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;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str(), j);
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}示例5: main
//.........这里部分代码省略.........
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;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str());
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes %d\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}示例6: main
int main(int argc, char *argv[])
{
Network yarp;
Property params;
params.fromCommand(argc, argv);
if (!params.check("robot"))
{
fprintf(stderr, "Please specify the name of the robot\n");
fprintf(stderr, "--robot name (e.g. icub)\n");
return -1;
}
std::string robotName=params.find("robot").asString().c_str();
std::string remotePorts="/";
remotePorts+=robotName;
remotePorts+="/left_arm";
std::string localPorts="/test/client";
Property options;
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str()); //local port names
options.put("remote", remotePorts.c_str()); //where we connect to
// create a device
PolyDriver robotDevice(options);
if (!robotDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
IPositionControl *pos;
IEncoders *encs;
bool ok;
ok = robotDevice.view(pos);
ok = ok && robotDevice.view(encs);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 0;
}
int nj=0;
pos->getAxes(&nj);
Vector encoders;
Vector command;
Vector tmp;
encoders.resize(nj);
tmp.resize(nj);
command.resize(nj);
int i;
for (i = 0; i < nj; i++) {
tmp[i] = 50.0;
}
pos->setRefAccelerations(tmp.data());
for (i = 0; i < nj; i++) {
tmp[i] = 4.0;
pos->setRefSpeed(i, tmp[i]);
}
//pos->setRefSpeeds(tmp.data()))
//fisrst zero all joints
//
command=0;
//now set the shoulder to some value
command[0]=-26.0;
command[1]=20.0;
command[2]=0.0;
command[3]=49.0;
command[4]=0.0;
pos->positionMove(command.data());
bool done=false;
while(!done) {
Time::delay(0.5);
pos->checkMotionDone(&done);
}
printf("\niCub @ HOME. Press any key...");
mygetch();
int times=0;
while(true)
{
times++;
if (times%2)
{
printf("\n\nSet pos1: ");
//command[0]=-50;
command[1]=64.0;
//command[2]=-10;
//command[3]=50;
//command[4]=0;
//.........这里部分代码省略.........
示例7: main
int main(int argc, char *argv[])
{
Network yarp;
int maxSpeed;
Property params;
params.fromCommand(argc, argv);
if (!params.check("robot"))
{
fprintf(stderr, "Please specify the name of the robot\n");
fprintf(stderr, "--robot name (e.g. icub)\n");
return -1;
}
if (!params.check("repetitions"))
{
fprintf(stderr, "Please specify number of repetitions\n");
fprintf(stderr, "--repetitions num (e.g. 10)\n");
return -1;
}
if (!params.check("speed"))
{
fprintf(stderr, "Speed not specified using default\n");
fprintf(stderr, "--speed num (e.g. 2)\n");
maxSpeed = 10.0;
}
else
{
maxSpeed = params.find("speed").asInt();
}
// sanity check on argument value
if(maxSpeed <0 || maxSpeed>50)
{
maxSpeed = 10;
}
std::string robotName=params.find("robot").asString().c_str();
std::string remotePorts="/";
remotePorts+=robotName;
remotePorts+="/head";
int numTimes = params.find("repetitions").asInt();
std::string localPorts="/headMovement_koroibot/client";
Property options;
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str()); //local port names
options.put("remote", remotePorts.c_str()); //where we connect to
// create a device
PolyDriver robotDevice(options);
if (!robotDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
IPositionControl *pos;
IEncoders *encs;
bool ok;
ok = robotDevice.view(pos);
ok = ok && robotDevice.view(encs);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 0;
}
int nj=0;
pos->getAxes(&nj);
Vector encoders;
Vector command;
Vector tmp;
encoders.resize(nj);
tmp.resize(nj);
command.resize(nj);
int i;
for (i = 0; i < nj; i++) {
tmp[i] = 50.0;
}
pos->setRefAccelerations(tmp.data());
for (i = 0; i < nj; i++) {
tmp[i] = 10.0;
pos->setRefSpeed(i, tmp[i]);
}
//first read all encoders
printf("waiting for encoders");
while(!encs->getEncoders(encoders.data()))
{
Time::delay(0.1);
printf(".");
}
printf("\n;");
//.........这里部分代码省略.........
示例8: main
int main(int argc, char *argv[]){
Network yarp;
//Port<Bottle> armPlan;
//Port<Bottle> armPred;
Port armPlan;
Port armPred;
armPlan.open("/randArm/plan");
armPred.open("/randArm/pred");
bool fwCvOn = 0;
fwCvOn = Network::connect("/randArm/plan","/fwdConv:i");
fwCvOn *= Network::connect("/fwdConv:o","/randArm/pred");
if (!fwCvOn){
printf("Please run command:\n ./fwdConv --input /fwdConv:i --output /fwdConv:o");
return 1;
}
const gsl_rng_type *T;
gsl_rng *r;
gsl_rng_env_setup();
T = gsl_rng_default;
r = gsl_rng_alloc(T);
Property params;
params.fromCommand(argc,argv);
if (!params.check("robot")){
fprintf(stderr, "Please specify robot name");
fprintf(stderr, "e.g. --robot icub");
return -1;
}
std::string robotName = params.find("robot").asString().c_str();
std::string remotePorts = "/";
remotePorts += robotName;
remotePorts += "/";
if (params.check("side")){
remotePorts += params.find("side").asString().c_str();
}
else{
remotePorts += "left";
}
remotePorts += "_arm";
std::string localPorts = "/randArm/cmd";
Property options;
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str());
options.put("remote", remotePorts.c_str());
PolyDriver robotDevice(options);
if (!robotDevice.isValid()){
printf("Device not available. Here are known devices: \n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return 1;
}
IPositionControl *pos;
IEncoders *enc;
bool ok;
ok = robotDevice.view(pos);
ok = ok && robotDevice.view(enc);
if (!ok){
printf("Problems acquiring interfaces\n");
return 0;
}
int nj = 0;
pos->getAxes(&nj);
Vector encoders;
Vector command;
Vector commandCart;
Vector tmp;
encoders.resize(nj);
tmp.resize(nj);
command.resize(nj);
commandCart.resize(nj);
for (int i = 0; i < nj; i++) {
tmp[i] = 25.0;
}
pos->setRefAccelerations(tmp.data());
for (int i = 0; i < nj; i++) {
tmp[i] = 5.0;
pos->setRefSpeed(i, tmp[i]);
}
command = 0;
//set the arm joints to "middle" values
command[0] = -45;
command[1] = 45;
command[2] = 0;
command[3] = 45;
pos->positionMove(command.data());
bool done = false;
while (!done){
//.........这里部分代码省略.........