Commit 88e4c36c authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Update to the new structure of sot-core

parent d8a2066a
...@@ -115,6 +115,18 @@ getControl(map<string,dgsot::ControlValues> &controlOut) ...@@ -115,6 +115,18 @@ getControl(map<string,dgsot::ControlValues> &controlOut)
} }
} }
void SoTTalosController::
setNoIntegration(void)
{
device_.setNoIntegration();
}
void SoTTalosController::
setSecondOrderIntegration(void)
{
device_.setSecondOrderIntegration();
}
void SoTTalosController:: void SoTTalosController::
runPython(std::ostream& file, runPython(std::ostream& file,
const std::string& command, const std::string& command,
......
...@@ -42,6 +42,9 @@ class SoTTalosController: public ...@@ -42,6 +42,9 @@ class SoTTalosController: public
void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut); void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
void setNoIntegration(void);
void setSecondOrderIntegration(void);
/// Embedded python interpreter accessible via Corba/ros /// Embedded python interpreter accessible via Corba/ros
boost::shared_ptr<dynamicgraph::Interpreter> interpreter_; boost::shared_ptr<dynamicgraph::Interpreter> interpreter_;
......
...@@ -258,7 +258,7 @@ void SoTTalosDevice::getControl(map<string,dgsot::ControlValues> &controlOut) ...@@ -258,7 +258,7 @@ void SoTTalosDevice::getControl(map<string,dgsot::ControlValues> &controlOut)
for(unsigned int i=6; i < state_.size();++i) for(unsigned int i=6; i < state_.size();++i)
anglesOut[i-6] = state_(i); anglesOut[i-6] = state_(i);
controlOut["joints"].setValues(anglesOut); controlOut["control"].setValues(anglesOut);
// Read zmp reference from input signal if plugged // Read zmp reference from input signal if plugged
int time = controlSIN.getTime (); int time = controlSIN.getTime ();
zmpSIN.recompute (time + 1); zmpSIN.recompute (time + 1);
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment