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Connect encoderVelocities input #11

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merged 1 commit into from
Jul 29, 2020
Merged

Connect encoderVelocities input #11

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1 change: 1 addition & 0 deletions projects/JVRC1/cnoid/sim_mc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,7 @@ def startMCControl():

def connectMCControl():
connectPorts(rh.port("q"), mc.port("qIn"))
connectPorts(rh.port("dq"), mc.port("alphaIn"))
connectPorts(rh.port("tauOut"), mc.port("taucIn"))
connectPorts(rh.port("gyrometer"), mc.port("rateIn"))
connectPorts(rh.port("gsensor"), mc.port("accIn"))
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12 changes: 12 additions & 0 deletions src/MCControl.cpp
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Expand Up @@ -70,6 +70,7 @@ MCControl::MCControl(RTC::Manager* manager)
m_timeStep(0.002),
m_enabled(false),
m_qInIn("qIn", m_qIn),
m_alphaInIn("alphaIn", m_alphaIn),
m_qInitIn("qInit", m_qInit),
m_pInIn("pIn", m_pIn),
m_rpyInIn("rpyIn", m_rpyIn),
Expand Down Expand Up @@ -116,6 +117,7 @@ RTC::ReturnCode_t MCControl::onInitialize()
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qIn", m_qInIn);
addInPort("alphaIn", m_alphaInIn);
addInPort("qInit", m_qInitIn);
addInPort("pIn", m_pInIn);
addInPort("rpyIn", m_rpyInIn);
Expand Down Expand Up @@ -292,6 +294,15 @@ RTC::ReturnCode_t MCControl::onExecute(RTC::UniqueId ec_id)
qInit[i] = m_qInit.data[i];
}
}
if(m_alphaInIn.isNew())
{
m_alphaInIn.read();
alphaIn.resize(m_alphaIn.data.length());
for(unsigned int i = 0; i < alphaIn.size(); ++i)
{
alphaIn[i] = m_alphaIn.data[i];
}
}
if(m_qInIn.isNew())
{
m_qInIn.read();
Expand All @@ -310,6 +321,7 @@ RTC::ReturnCode_t MCControl::onExecute(RTC::UniqueId ec_id)
controller.setSensorLinearVelocity(velIn.linear());
controller.setSensorAcceleration(accIn);
controller.setEncoderValues(qIn);
controller.setEncoderVelocities(alphaIn);
controller.setWrenches(m_wrenches);
controller.setJointTorques(taucIn);

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3 changes: 3 additions & 0 deletions src/MCControl.h
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Expand Up @@ -108,6 +108,9 @@ class MCControl : public RTC::DataFlowComponentBase
TimedDoubleSeq m_qIn;
InPort<TimedDoubleSeq> m_qInIn;
std::vector<double> qIn;
TimedDoubleSeq m_alphaIn;
InPort<TimedDoubleSeq> m_alphaInIn;
std::vector<double> alphaIn;
TimedDoubleSeq m_qInit;
InPort<TimedDoubleSeq> m_qInitIn;
std::vector<double> qInit = {};
Expand Down