本文整理汇总了C++中scoped_ptr::getGravity方法的典型用法代码示例。如果您正苦于以下问题：C++ scoped_ptr::getGravity方法的具体用法？C++ scoped_ptr::getGravity怎么用？C++ scoped_ptr::getGravity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scoped_ptr的用法示例。
在下文中一共展示了scoped_ptr::getGravity方法的1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)
{
struct sigaction sa;
bzero(&sa, sizeof(sa));
sa.sa_handler = handle;
if (0 != sigaction(SIGINT, &sa, 0)) {
err(EXIT_FAILURE, "sigaction");
}
// Before we attempt to read any tasks and skills from the YAML
// file, we need to inform the static type registry about custom
// additions such as the HelloGoodbyeSkill.
Factory::addSkillType<uta_opspace::HelloGoodbyeSkill>("uta_opspace::HelloGoodbyeSkill");
ros::init(argc, argv, "wbc_m3_ctrl_servo", ros::init_options::NoSigintHandler);
parse_options(argc, argv);
ros::NodeHandle node("~");
controller.reset(new ControllerNG("wbc_m3_ctrl::servo"));
param_cbs.reset(new ParamCallbacks());
Servo servo;
try {
if (verbose) {
warnx("initializing param callbacks");
}
registry.reset(factory->createRegistry());
registry->add(controller);
param_cbs->init(node, registry, 1, 100);
if (verbose) {
warnx("starting servo with %lld Hz", servo_rate);
}
actual_servo_rate = servo_rate;
servo.start(servo_rate);
}
catch (std::runtime_error const & ee) {
errx(EXIT_FAILURE, "failed to start servo: %s", ee.what());
}
warnx("started servo RT thread");
ros::Time dbg_t0(ros::Time::now());
ros::Time dump_t0(ros::Time::now());
ros::Duration dbg_dt(0.1);
ros::Duration dump_dt(0.05);
while (ros::ok()) {
ros::Time t1(ros::Time::now());
if (verbose) {
if (t1 - dbg_t0 > dbg_dt) {
dbg_t0 = t1;
servo.skill->dbg(cout, "\n\n**************************************************", "");
controller->dbg(cout, "--------------------------------------------------", "");
cout << "--------------------------------------------------\n";
jspace::pretty_print(model->getState().position_, cout, "jpos", " ");
jspace::pretty_print(model->getState().velocity_, cout, "jvel", " ");
jspace::pretty_print(model->getState().force_, cout, "jforce", " ");
jspace::pretty_print(controller->getCommand(), cout, "gamma", " ");
Vector gravity;
model->getGravity(gravity);
jspace::pretty_print(gravity, cout, "gravity", " ");
cout << "servo rate: " << actual_servo_rate << "\n";
}
}
if (t1 - dump_t0 > dump_dt) {
dump_t0 = t1;
controller->qhlog(*servo.skill, rt_get_cpu_time_ns() / 1000);
}
ros::spinOnce();
usleep(10000); // 100Hz-ish
}
warnx("shutting down");
servo.shutdown();
}