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SimpleSineMovement.cpp
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Created
Sun, Oct 20, 00:35
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2 KB
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text/x-c
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Tue, Oct 22, 00:35 (2 d)
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blob
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Handle
21780532
Attached To
R6622 liboncilla
SimpleSineMovement.cpp
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#include <iostream>
#include <fstream>
#include <stdlib.h>
#include <math.h>
#include <rsc/misc/langutils.h>
#include <rci/dto/JointAngles.h>
#include "liboncilla/Oncilla.h"
#include "liboncilla/OncillaL1L2.h"
#include "liboncilla/OncillaSynchronizer.h"
using
namespace
std
;
using
namespace
boost
;
using
namespace
rci
;
using
namespace
rci
::
oncilla
;
int
main
()
{
double
amplitude_rad
=
1.0
;
double
frequency_Hz
=
1.0
;
// Instantiate the actual robot object
Oncilla
oncilla
;
// Get the synchronizer, so that we can control the actual simulation
// stepping from within our code
OncillaSynchronizerPtr
synchronizer
=
oncilla
.
getSynchronizer
();
// Get all the joints we are interested in - L1 and L2
OncillaL1Ptr
left_fore_hip
=
oncilla
.
getL1
(
Oncilla
::
LEFT_FORE
);
OncillaL2Ptr
left_fore_knee
=
oncilla
.
getL2
(
Oncilla
::
LEFT_FORE
);
OncillaL1Ptr
right_fore_hip
=
oncilla
.
getL1
(
Oncilla
::
RIGHT_FORE
);
OncillaL2Ptr
right_fore_knee
=
oncilla
.
getL2
(
Oncilla
::
RIGHT_FORE
);
OncillaL1Ptr
left_hind_hip
=
oncilla
.
getL1
(
Oncilla
::
LEFT_HIND
);
OncillaL2Ptr
left_hind_knee
=
oncilla
.
getL2
(
Oncilla
::
LEFT_HIND
);
OncillaL1Ptr
right_hind_hip
=
oncilla
.
getL1
(
Oncilla
::
RIGHT_HIND
);
OncillaL2Ptr
right_hind_knee
=
oncilla
.
getL2
(
Oncilla
::
RIGHT_HIND
);
// Now move the joints
double
time_s
,
phase1
,
phase2
;
JointAnglesPtr
hip1
,
hip2
,
knee1
,
knee2
;
while
(
true
)
{
// The time is our phase - TODO: Use virtual / simulated time
time_s
=
rsc
::
misc
::
currentTimeMicros
()
/
1000
;
phase1
=
time_s
*
frequency_Hz
;
phase2
=
(
time_s
+
0.5
)
*
frequency_Hz
;
hip1
=
JointAngles
::
fromRad
(
amplitude_rad
*
sin
(
phase1
));
left_fore_hip
->
setJointPosition
(
hip1
);
right_hind_hip
->
setJointPosition
(
hip1
);
hip2
=
JointAngles
::
fromRad
(
amplitude_rad
*
sin
(
phase2
));
left_hind_hip
->
setJointPosition
(
hip2
);
right_fore_hip
->
setJointPosition
(
hip2
);
knee1
=
JointAngles
::
fromRad
(
amplitude_rad
*
sin
(
phase1
));
left_fore_knee
->
setJointPosition
(
knee1
);
right_hind_knee
->
setJointPosition
(
knee1
);
knee2
=
JointAngles
::
fromRad
(
amplitude_rad
*
sin
(
phase2
));
left_hind_knee
->
setJointPosition
(
knee2
);
right_fore_knee
->
setJointPosition
(
knee2
);
// Now that we set the new angles, we do one processing step
synchronizer
->
process
();
}
return
EXIT_SUCCESS
;
}
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