From b9f0dd0bf8eb7bec991bebd933a0e4df9161c6c9 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Mon, 4 Jul 2016 20:17:15 +0200
Subject: [PATCH] made trajectory example more clear about the meaning of the
dimensions
---
.../libraries/core/test/TrajectoryTest.cpp | 16 +++++++++-------
1 file changed, 9 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp b/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp
index 834cec402..db6263acd 100644
--- a/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp
+++ b/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp
@@ -32,19 +32,21 @@ using namespace armarx;
BOOST_AUTO_TEST_CASE(TrajectoryBasicUsage)
{
//! [TrajectoryDocumentation BasicUsage]
- Ice::DoubleSeq myPositionValues {0, 5, 1}; // fill with your values;
- Ice::DoubleSeq timestamps = Trajectory::GenerateTimestamps(0, 1, 1.0 / (myPositionValues.size() - 1)); // if you dont have timestamps
- TrajectoryPtr trajectory(new Trajectory);
- trajectory->addDimension(myPositionValues, timestamps, "Shoulder 1 L");
+ Ice::DoubleSeq joint1Values {0, 5, 1}; // fill with your values;
+ Ice::DoubleSeq joint2Values {1, 3, 1}; // fill with your values;
+ Ice::DoubleSeq joint3Values {0, 2, 5}; // fill with your values;
+ Ice::DoubleSeq timestamps = Trajectory::GenerateTimestamps(0, 1, 1.0 / (joint1Values.size() - 1)); // if you dont have timestamps
+ TrajectoryPtr trajectory(new Trajectory(DoubleSeqSeq {joint1Values, joint2Values}, timestamps, {"Shoulder 0 R", "Shoulder 1 R"}));
+ trajectory->addDimension(joint3Values, timestamps, "Shoulder 2 R");
double timestamp = 0.1;
double dimension = 0;
double derivation = 0;
- double pos = trajectory->getState(timestamp, dimension, derivation);
+ double j1posAtT = trajectory->getState(timestamp, dimension, derivation);
// or
- Ice::DoubleSeq positions = trajectory->getDimensionData(dimension, derivation);
+ Ice::DoubleSeq j1positions = trajectory->getDimensionData(dimension, derivation);
//! [TrajectoryDocumentation BasicUsage]
- ARMARX_INFO_S << VAROUT(pos) << VAROUT(positions);
+ ARMARX_INFO_S << VAROUT(j1posAtT) << VAROUT(j1positions);
}
BOOST_AUTO_TEST_CASE(TrajectoryIteratorUsage)
--
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