Merge branch 'master' of gitlab.com:ArmarX/RobotAPI

source/RobotAPI/interface/CMakeLists.txt

@@ -23,6 +23,7 @@ set(SLICE_FILES
     core/CartesianPositionControllerConfig.ice
     core/CartesianNaturalPositionControllerConfig.ice
     core/TopicTimingTest.ice
+    core/FTSensorValue.ice
 
     selflocalisation/SelfLocalisationProcess.ice
 

source/RobotAPI/interface/core/FTSensorValue.ice

+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package    ArmarX::Core
+* @author     Fabian Peller (fabian dot peller at kit dot edu)
+* @copyright  2020 H2T, KIT
+* @license    http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#pragma once
+
+#include <ArmarXCore/interface/serialization/Eigen.ice>
+
+module armarx
+{
+
+    struct FTSensorValue
+    {
+        long timestampInUs = 0;
+        Eigen::Vector3f force;
+        Eigen::Vector3f torque;
+    };
+
+};

source/RobotAPI/interface/units/RobotUnit/NJointCartesianNaturalPositionController.ice

@@ -25,6 +25,7 @@
 #include <ArmarXCore/interface/serialization/Eigen.ice>
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
+#include <RobotAPI/interface/core/FTSensorValue.ice>
 #include <RobotAPI/interface/core/CartesianNaturalPositionControllerConfig.ice>
 #include <ArmarXCore/interface/core/BasicVectorTypes.ice>
 
@@ -41,12 +42,6 @@ module armarx
         int ftHistorySize = 100;
     };
 
-    struct FTSensorValue
-    {
-        Eigen::Vector3f force;
-        Eigen::Vector3f torque;
-    };
-
     interface NJointCartesianNaturalPositionControllerInterface extends NJointControllerInterface
     {
         //idempotent bool hasReachedTarget();

source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice

@@ -25,6 +25,7 @@
 #include <ArmarXCore/interface/serialization/Eigen.ice>
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
+#include <RobotAPI/interface/core/FTSensorValue.ice>
 #include <RobotAPI/interface/core/CartesianWaypointControllerConfig.ice>
 
 module armarx
@@ -37,13 +38,6 @@ module armarx
         bool optimizeNullspaceIfTargetWasReached = false;
     };
     
-    struct FTSensorValue
-    {
-        long timestampInUs = 0;
-        Eigen::Vector3f force;
-        Eigen::Vector3f torque;
-    };
-    
     class NJointCartesianWaypointControllerConfig extends NJointControllerConfig
     {
         string rns;

source/RobotAPI/libraries/core/CartesianNaturalPositionController.cpp

@@ -91,7 +91,7 @@ namespace armarx
                 float diff = nullspaceTarget(i) - rns->getNode(i)->getJointValue();
                 if (rns->getNode(i)->isLimitless())
                 {
-                    diff = math::Helpers::AngleModPI(diff);
+                    diff = ::math::Helpers::AngleModPI(diff);
                 }
                 jvNT(i) = diff;
             }