本文整理汇总了C++中PhysicsClientSharedMemory::getNumJoints方法的典型用法代码示例。如果您正苦于以下问题：C++ PhysicsClientSharedMemory::getNumJoints方法的具体用法？C++ PhysicsClientSharedMemory::getNumJoints怎么用？C++ PhysicsClientSharedMemory::getNumJoints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PhysicsClientSharedMemory的用法示例。
在下文中一共展示了PhysicsClientSharedMemory::getNumJoints方法的4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: slider
void RobotControlExample::stepSimulation(float deltaTime)
{
m_physicsServer.processClientCommands();
if (m_physicsClient.isConnected())
{
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
for (int i=0;i<m_physicsClient.getNumJoints();i++)
{
b3JointInfo info;
m_physicsClient.getJointInfo(i,info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetVelocities[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
}
}
}
}
if (m_physicsClient.canSubmitCommand())
{
if (m_userCommandRequests.size())
{
b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
SharedMemoryCommand& cmd = m_userCommandRequests[0];
//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
for (int i=1;i<m_userCommandRequests.size();i++)
{
m_userCommandRequests[i-1] = m_userCommandRequests[i];
}
m_userCommandRequests.pop_back();
m_physicsClient.submitClientCommand(cmd);
}
}
}
}示例2: slider
void PhysicsClientExample::stepSimulation(float deltaTime)
{
if (m_physicsClient.isConnected())
{
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
for (int i=0;i<m_physicsClient.getNumJoints();i++)
{
b3JointInfo info;
m_physicsClient.getJointInfo(i,info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
for (int i=0;i<m_physicsClient.getNumJoints();i++)
{
b3JointInfo info;
m_physicsClient.getJointInfo(i,info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
}
}
}
}
}
if (hasStatus && status.m_type ==CMD_DEBUG_LINES_COMPLETED)
{
SharedMemoryCommand command;
if (status.m_sendDebugLinesArgs.m_numRemainingDebugLines>0)
{
//continue requesting debug lines for drawing
command.m_type =CMD_REQUEST_DEBUG_LINES;
command.m_requestDebugLinesArguments.m_debugMode = btIDebugDraw::DBG_DrawWireframe;//DBG_DrawConstraints;
command.m_requestDebugLinesArguments.m_startingLineIndex = status.m_sendDebugLinesArgs.m_numDebugLines+status.m_sendDebugLinesArgs.m_startingLineIndex;
enqueueCommand(command);
}
}
if (m_physicsClient.canSubmitCommand())
{
if (m_userCommandRequests.size())
{
//b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
SharedMemoryCommand command = m_userCommandRequests[0];
//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
for (int i=1;i<m_userCommandRequests.size();i++)
{
m_userCommandRequests[i-1] = m_userCommandRequests[i];
}
m_userCommandRequests.pop_back();
//for the CMD_RESET_SIMULATION we need to do something special: clear the GUI sliders
if (command.m_type==CMD_RESET_SIMULATION)
{
m_guiHelper->getParameterInterface()->removeAllParameters();
m_numMotors=0;
createButtons();
}
m_physicsClient.submitClientCommand(command);
} else
{
if (m_numMotors)
{
SharedMemoryCommand command;
command.m_type =CMD_SEND_DESIRED_STATE;
prepareControlCommand(command);
enqueueCommand(command);
command.m_type =CMD_STEP_FORWARD_SIMULATION;
enqueueCommand(command);
command.m_type = CMD_REQUEST_ACTUAL_STATE;
enqueueCommand(command);
}
}
//.........这里部分代码省略.........
示例3: slider
void RobotControlExample::stepSimulation(float deltaTime)
{
m_physicsServer.processClientCommands();
if (m_physicsClient.isConnected())
{
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
for (int i=0;i<m_physicsClient.getNumJoints();i++)
{
b3JointInfo info;
m_physicsClient.getJointInfo(i,info);
if (m_verboseOutput)
{
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
switch (m_option)
{
case ROBOT_VELOCITY_CONTROL:
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
break;
}
case ROBOT_PD_CONTROL:
{
char motorName[1024];
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
motorInfo->m_posIndex = info.m_qIndex;
motorInfo->m_kp = 1;
motorInfo->m_kd = 0;
{
sprintf(motorName,"%s kp", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_kp);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s q", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_posTarget);
slider.m_minVal=-SIMD_PI;
slider.m_maxVal=SIMD_PI;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s kd", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_kd);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s q'", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-10;
slider.m_maxVal=10;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
m_numMotors++;
break;
}
default:
{
b3Warning("Unknown control mode in RobotControlExample::stepSimulation");
}
};
}
}
}
}
//.........这里部分代码省略.........
示例4: slider
void RobotControlExample::stepSimulation(float deltaTime)
{
m_physicsServer.processClientCommands();
if (m_physicsClient.isConnected())
{
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
//update sensor feedback: joint force/torque data and measured joint positions
for (int i=0;i<m_numMotors;i++)
{
int jointIndex = m_motorTargetState[i].m_jointIndex;
int positionIndex = m_motorTargetState[i].m_posIndex;
int velocityIndex = m_motorTargetState[i].m_uIndex;
m_motorTargetState[i].m_measuredJointPosition = status.m_sendActualStateArgs.m_actualStateQ[positionIndex];
m_motorTargetState[i].m_measuredJointVelocity = status.m_sendActualStateArgs.m_actualStateQdot[velocityIndex];
m_motorTargetState[i].m_measuredJointForce.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+1],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+2]);
m_motorTargetState[i].m_measuredJointTorque.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+3],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+4],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+5]);
if (m_motorTargetState[i].m_measuredJointPosition>0.1)
{
m_motorTargetState[i].m_velTarget = -1.5;
} else
{
m_motorTargetState[i].m_velTarget = 1.5;
}
b3Printf("Joint Force (Linear) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointForce.x(),m_motorTargetState[i].m_measuredJointForce.y(),m_motorTargetState[i].m_measuredJointForce.z());
b3Printf("Joint Torque (Angular) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointTorque.x(),m_motorTargetState[i].m_measuredJointTorque.y(),m_motorTargetState[i].m_measuredJointTorque.z());
}
}
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
SharedMemoryCommand sensorCommand;
sensorCommand.m_type = CMD_CREATE_SENSOR;
sensorCommand.m_createSensorArguments.m_numJointSensorChanges = 0;
for (int jointIndex=0;jointIndex<m_physicsClient.getNumJoints();jointIndex++)
{
b3JointInfo info;
m_physicsClient.getJointInfo(jointIndex,info);
if (m_verboseOutput)
{
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
switch (m_option)
{
case ROBOT_VELOCITY_CONTROL:
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_jointName = info.m_jointName;
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
break;
}
case ROBOT_PD_CONTROL:
{
char motorName[1024];
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_jointName = info.m_jointName;
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
motorInfo->m_posIndex = info.m_qIndex;
motorInfo->m_kp = 1;
motorInfo->m_kd = 0;
{
//.........这里部分代码省略.........