From 480bf9888471f5b0a24462cbac1cd5cb15aef73a Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Tue, 26 Oct 2021 17:32:16 +0200
Subject: [PATCH] Add two new velocity profiles to perform tests
---
src/Joystick.cpp | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/src/Joystick.cpp b/src/Joystick.cpp
index ed5ceabd..c1b82869 100644
--- a/src/Joystick.cpp
+++ b/src/Joystick.cpp
@@ -259,6 +259,20 @@ void Joystick::update_v_ref_predefined(int k, int velID) {
if (k == 0) {
MatrixN t_switch;
switch (velID) {
+ case 7:
+ t_switch = MatrixN::Zero(1, 9);
+ t_switch << 0, 1, 3, 4, 6, 7, 9, 10, 11;
+ v_switch = MatrixN::Zero(6, 9);
+ v_switch.row(0) << 0.0, 0.25, 0.5, 0.5, 0.5, 0.5, 0.5, 0.25, 0.0;
+ v_switch.row(5) << 0.0, 0.8, -0.8, -0.8, 0.8, 0.8, -0.8, 0.0, 0.0;
+ break;
+ case 8:
+ t_switch = MatrixN::Zero(1, 9);
+ t_switch << 0, 1, 3, 4, 6, 7, 9, 10, 11;
+ v_switch = MatrixN::Zero(6, 9);
+ v_switch.row(0) << 0.0, 0.4, 0.8, 0.8, 0.4, 0.0, 0.0, 0.0, 0.0;
+ v_switch.row(5) << 0.0, 0.8, -1.2, 0.8, 0.0, 0.0, 0.0, 0.0, 0.0;
+ break;
case 10:
t_switch = MatrixN::Zero(1, 7);
t_switch << 0, 2, 4, 6, 8, 10, 15;
--
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