robot.cpp
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00001 #include "robot.h"
00002 #include "hrpsys/util/Hrpsys.h"
00003 #include <iostream>
00004 
00005 #define DEFAULT_ANGLE_ERROR_LIMIT (0.2 - 0.02) // [rad]
00006 
00007 
00008 // robot model copy from RobotHardware
00009 robot::robot() {
00010 }
00011 robot::~robot() {
00012 }
00013 bool robot::init() {
00014   m_servoErrorLimit.resize(numJoints());
00015   for (unsigned int i=0; i<numJoints(); i++){
00016     m_servoErrorLimit[i] = DEFAULT_ANGLE_ERROR_LIMIT;
00017   }
00018   return true;
00019 }
00020 
00021 bool robot::setServoErrorLimit(const char *i_jname, double i_limit) {
00022   hrp::Link *l = NULL;
00023   if (strcmp(i_jname, "all") == 0 || strcmp(i_jname, "ALL") == 0){
00024     for (unsigned int i=0; i<numJoints(); i++){
00025       m_servoErrorLimit[i] = i_limit;
00026     }
00027     std::cerr << "[el] setServoErrorLimit " << i_limit << "[rad] for all joints" << std::endl;
00028   }else if ((l = link(i_jname))){
00029     m_servoErrorLimit[l->jointId] = i_limit;
00030     std::cerr << "[el] setServoErrorLimit " << i_limit << "[rad] for " << i_jname << std::endl;
00031   }else{
00032     std::cerr << "[el] Invalid joint name of setServoErrorLimit " << i_jname << "!" << std::endl;
00033     return false;
00034   }
00035   return true;
00036 }


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55