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Stack Of Tasks
sot-talos
Commits
88e4c36c
Commit
88e4c36c
authored
Aug 30, 2017
by
Olivier Stasse
Browse files
Update to the new structure of sot-core
parent
d8a2066a
Changes
3
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Inline
Side-by-side
src/sot-talos-controller.cpp
View file @
88e4c36c
...
...
@@ -115,6 +115,18 @@ getControl(map<string,dgsot::ControlValues> &controlOut)
}
}
void
SoTTalosController
::
setNoIntegration
(
void
)
{
device_
.
setNoIntegration
();
}
void
SoTTalosController
::
setSecondOrderIntegration
(
void
)
{
device_
.
setSecondOrderIntegration
();
}
void
SoTTalosController
::
runPython
(
std
::
ostream
&
file
,
const
std
::
string
&
command
,
...
...
src/sot-talos-controller.hh
View file @
88e4c36c
...
...
@@ -42,6 +42,9 @@ class SoTTalosController: public
void
getControl
(
std
::
map
<
std
::
string
,
dgsot
::
ControlValues
>
&
anglesOut
);
void
setNoIntegration
(
void
);
void
setSecondOrderIntegration
(
void
);
/// Embedded python interpreter accessible via Corba/ros
boost
::
shared_ptr
<
dynamicgraph
::
Interpreter
>
interpreter_
;
...
...
src/sot-talos-device.cpp
View file @
88e4c36c
...
...
@@ -258,7 +258,7 @@ void SoTTalosDevice::getControl(map<string,dgsot::ControlValues> &controlOut)
for
(
unsigned
int
i
=
6
;
i
<
state_
.
size
();
++
i
)
anglesOut
[
i
-
6
]
=
state_
(
i
);
controlOut
[
"
joints
"
].
setValues
(
anglesOut
);
controlOut
[
"
control
"
].
setValues
(
anglesOut
);
// Read zmp reference from input signal if plugged
int
time
=
controlSIN
.
getTime
();
zmpSIN
.
recompute
(
time
+
1
);
...
...
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