From 7e356a3bfb8da84afdeaa325e6d5b976cec4ac80 Mon Sep 17 00:00:00 2001
From: Valerij Wittenbeck <valerij.wittenbeck@student.kit.edu>
Date: Tue, 29 Apr 2014 12:56:43 +0200
Subject: [PATCH] scenario MovePlatform - added a config file which makes the
platform go to the table
---
.../MovePlatformExampleCloseToTable.xml | 28 +++++++++++++++++++
.../statecharts/MovePlatform/MovePlatform.cpp | 3 +-
2 files changed, 30 insertions(+), 1 deletion(-)
create mode 100644 scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml
diff --git a/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml b/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml
new file mode 100644
index 000000000..791e75adb
--- /dev/null
+++ b/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml
@@ -0,0 +1,28 @@
+<MovePlatformStateChart>
+ <StateParameters>
+ <!--
+ x/y are in mm
+ for now z=rotation around z axis in radian
+ -->
+ <targetPositions>
+ <Item0>
+ <x>3400</x>
+ <y>7150</y>
+ <z>-1.6</z>
+ </Item0>
+ </targetPositions>
+
+ <!--unreachable-->
+ <!--targetPositions>
+ <Item0>
+ <x>5000</x>
+ <y>5000</y>
+ <z>0</z>
+ </Item0>
+ </targetPositions-->
+ <positionalAccuracy>10</positionAccuracy> <!--mm-->
+ <orientationalAccuracy>0.1</orientationAccuracy> <!--rad-->
+ <timeoutMoveTo>30000</timeoutMoveTO>
+ </StateParameters>
+</MovePlatformStateChart>
+
diff --git a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
index d0d48e1bb..970cf7f29 100644
--- a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
+++ b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
@@ -51,7 +51,8 @@ namespace armarx
// ****************************************************************
void StatechartMovePlatform::defineParameters()
{
- setConfigFile("RobotAPI/scenarios/MovePlatformTest/configs/MovePlatformExample.xml");
+// setConfigFile("RobotAPI/scenarios/MovePlatformTest/configs/MovePlatformExample.xml");
+ setConfigFile("RobotAPI/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml");
addToInput("targetPositions", VariantType::List(VariantType::Vector3), false);
addToInput("positionalAccuracy", VariantType::Float, false);
addToInput("orientationalAccuracy", VariantType::Float, false);
--
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