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Use qInit instead of qIn to initialize mc_rtc #14

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merged 4 commits into from
Jun 7, 2021
Merged

Use qInit instead of qIn to initialize mc_rtc #14

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dbfd6f3
Use qInit instead of qIn to initialize mc_rtc i.e. use target command…
rafaelxero Jun 3, 2021
ceea3ef
Updated sample Python script to connect qInit to mc_openrtm
rafaelxero Jun 3, 2021
78b16a2
Added security check to qInit
rafaelxero Jun 3, 2021
88e70fa
Applied .clang-format-fix.sh
rafaelxero Jun 4, 2021
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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 @@ -126,6 +126,7 @@ def startMCControl():
mc.setProperty("is_enabled", "1")

def connectMCControl():
connectPorts(sh.port("qOut"), mc.port("qInit"))
connectPorts(rh.port("q"), mc.port("qIn"))
connectPorts(rh.port("dq"), mc.port("alphaIn"))
connectPorts(rh.port("tauOut"), mc.port("taucIn"))
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11 changes: 10 additions & 1 deletion src/MCControl.cpp
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Expand Up @@ -342,7 +342,16 @@ RTC::ReturnCode_t MCControl::onExecute(RTC::UniqueId ec_id)
if(!init)
{
mc_rtc::log::info("Init controller");
controller.init(qIn);
if(qInit.size() == qIn.size())
{
controller.init(qInit);
}
else
{
mc_rtc::log::warning("The size of qInit does not mach the size of qIn, please update the corresponding "
"Python script... using qIn instead to initialize the controller");
controller.init(qIn);
}
init = true;
}
if(controller.run())
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