From c05391ed40562010171a3e2324836e30bda67cbd Mon Sep 17 00:00:00 2001
From: Markus Swarowsky <markus.swarowsky@student.kit.edu>
Date: Thu, 2 Mar 2017 21:57:50 +0100
Subject: [PATCH] target get set to 0 at activation of pass through controller
also added PlatformTarget
---
.../PassThroughController.h | 34 ++++++++++++++++++-
1 file changed, 33 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/BasicRTControllers/PassThroughController.h b/source/RobotAPI/libraries/BasicRTControllers/PassThroughController.h
index acb5582b8..3bdf59b69 100644
--- a/source/RobotAPI/libraries/BasicRTControllers/PassThroughController.h
+++ b/source/RobotAPI/libraries/BasicRTControllers/PassThroughController.h
@@ -34,6 +34,7 @@
#include <RobotAPI/libraries/RobotRTControllers/Targets/JointTorqueTarget.h>
#include <RobotAPI/libraries/RobotRTControllers/Targets/JointVelocityTarget.h>
#include <RobotAPI/libraries/RobotRTControllers/DataUnits/KinematicDataUnit.h>
+#include <RobotAPI/libraries/RobotRTControllers/Targets/PlatformWheelVelocityTarget.h>
namespace armarx
{
@@ -134,9 +135,38 @@ namespace armarx
}
};
+ template <>
+ struct PassThroughControllerTargetTypeTraits<PlatformWheelVelocityTarget>
+ {
+ static float* getTargetDatamember(PlatformWheelVelocityTarget& t)
+ {
+ return &t.velocity;
+ }
+ static const float* getFrontRightWheelVelocity(const PlatformDataUnitInterface* pu)
+ {
+ return pu->getFrontRightWheelVelocity();
+ }
+ static const float* getFrontLeftWheelVelocity(const PlatformDataUnitInterface* pu)
+ {
+ return pu->getFrontLeftWheelVelocity();
+ }
+ static const float* getRearRightWheelVelocity(const PlatformDataUnitInterface* pu)
+ {
+ return pu->getRearRightWheelVelocity();
+ }
+ static const float* getRearLeftWheelVelocity(const PlatformDataUnitInterface* pu)
+ {
+ return pu->getRearLeftWheelVelocity();
+ }
+ static std::string getControlMode()
+ {
+ return ControlModes::VelocityMode;
+ }
+ };
+
LVL1ControllerRegistration<PassThroughController<JointPositionTarget>> registrationSomeControllerPositionPassThroughController("PositionPassThroughController");
LVL1ControllerRegistration<PassThroughController<JointVelocityTarget>> registrationSomeControllerVelocityPassThroughController("VelocityPassThroughController");
- LVL1ControllerRegistration<PassThroughController<JointTorqueTarget >> registrationSomeControllerJointPassThroughController("JointPassThroughController");
+ LVL1ControllerRegistration<PassThroughController<JointTorqueTarget >> registrationSomeControllerJointPassThroughController("TorquePassThroughController");
template <typename TargetType>
std::string PassThroughController<TargetType>::getClassName(const Ice::Current&) const
@@ -194,6 +224,8 @@ namespace armarx
for (std::size_t i = 0; i < jointStates.size(); ++i)
{
iceTargets.at(i).val.store(*jointStates.at(i));
+ //set it to zero
+ iceTargets.at(i).val.store(0.0);
}
}
--
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