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OncillaL3.cpp
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Sat, Sep 7, 12:17
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831 B
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text/x-c
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Mon, Sep 9, 12:17 (2 d)
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blob
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20607669
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R6622 liboncilla
OncillaL3.cpp
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#include "OncillaL3.h"
using namespace std;
namespace rci {
namespace oncilla {
OncillaL3::OncillaL3(const std::string & name)
: rci::ResourceNode(name)
, rci::Sensing()
, rci::PositionSensing() {
this->_latestJointPosition = JointAngles::create(1,0.0);
}
JointAnglesPtr OncillaL3::getJointPosition() const {
throw std::runtime_error("Not yet implemented.");
}
OncillaL3::~OncillaL3() {
}
std::string OncillaL3::print() const {
ostringstream outstream(ostringstream::out);
outstream.precision(3); // Precision when printing double values
outstream << "<Oncilla Ankle>" << endl;
return outstream.str();
}
double OncillaL3::getRawLocalPosition() const{
return this->_latestJointPosition->asDouble(0);
}
void OncillaL3::updateRawLocalPosition(double value){
this->_latestJointPosition->setValue(0,value);
}
}
}
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