Unverified Commit e324cfe4 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #63 from olivier-stasse/devel, fix #61 #62

[tools] Change names for consistency and helps the graph display.
parents 411be578 58efe021
Pipeline #1792 passed with stage
in 12 minutes and 49 seconds
......@@ -126,12 +126,12 @@ Device( const std::string& n )
,controlInputType_(CONTROL_INPUT_ONE_INTEGRATION)
,controlSIN( NULL,"Device("+n+")::input(double)::control" )
//,attitudeSIN(NULL,"Device::input(matrixRot)::attitudeIN")
,attitudeSIN(NULL,"Device::input(vector3)::attitudeIN")
,zmpSIN(NULL,"Device::input(vector3)::zmp")
,attitudeSIN(NULL,"Device("+ n +")::input(vector3)::attitudeIN")
,zmpSIN(NULL,"Device("+n+")::input(vector3)::zmp")
,stateSOUT( "Device("+n+")::output(vector)::state" )
,velocitySOUT( "Device("+n+")::output(vector)::velocity" )
,attitudeSOUT( "Device("+n+")::output(matrixRot)::attitude" )
,pseudoTorqueSOUT( "Device::output(vector)::ptorque" )
,pseudoTorqueSOUT( "Device("+n+")::output(vector)::ptorque" )
,previousControlSOUT( "Device("+n+")::output(vector)::previousControl" )
,motorcontrolSOUT( "Device("+n+")::output(vector)::motorcontrol" )
,ZMPPreviousControllerSOUT( "Device("+n+")::output(vector)::zmppreviouscontroller" ), ffPose_(),
......@@ -141,13 +141,13 @@ Device( const std::string& n )
/* --- SIGNALS --- */
for( int i=0;i<4;++i ){ withForceSignals[i] = false; }
forcesSOUT[0] =
new Signal<Vector, int>("OpenHRP::output(vector6)::forceRLEG");
new Signal<Vector, int>("Device("+n+")::output(vector6)::forceRLEG");
forcesSOUT[1] =
new Signal<Vector, int>("OpenHRP::output(vector6)::forceLLEG");
new Signal<Vector, int>("Device("+n+")::output(vector6)::forceLLEG");
forcesSOUT[2] =
new Signal<Vector, int>("OpenHRP::output(vector6)::forceRARM");
new Signal<Vector, int>("Device("+n+")::output(vector6)::forceRARM");
forcesSOUT[3] =
new Signal<Vector, int>("OpenHRP::output(vector6)::forceLARM");
new Signal<Vector, int>("Device("+n+")::output(vector6)::forceLARM");
signalRegistration( controlSIN<<stateSOUT<<robotState_<<robotVelocity_
<<velocitySOUT<<attitudeSOUT
......
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