C++ (Cpp) MM2M Beispiele

Beispiel #1

Datei: epuck.cpp Projekt: ozzieem/UniCpp

//==================================================
void SetPosition(double x, double y)
//==================================================
 {
 EpuckPosition2d move(SP);

 EpuckPosition2d::DynamicConfiguration getOdometry;
 getOdometry = move.UpdateOdometry ();

 EpuckInterface::Triple setOdometry;

 setOdometry.x = MM2M(x);
 setOdometry.y = MM2M(y);
 setOdometry.theta = getOdometry.pose.theta;

 move.SetOdometry(setOdometry);
 }

Beispiel #2

Datei: denso_robot_hw.cpp Projekt: YoshihiroMIYAKOSHI/denso_robot_ros

  void DensoRobotHW::read(ros::Time time, ros::Duration period)
  {
    boost::mutex::scoped_lock lockMode(m_mtxMode);
    
    if(m_eng->get_Mode() == DensoRobotRC8::SLVMODE_NONE) {
      HRESULT hr = m_rob->ExecCurJnt(m_joint);
      if(FAILED(hr)) {
        ROS_ERROR("Failed to get current joint. (%X)", hr);
      }
    }

    for(int i = 0; i < m_robJoints; i++) {
      switch(m_type[i]){
        case 0: // prismatic
          m_pos[i] = MM2M(m_joint[i]);
          break;
        case 1: // revolute
          m_pos[i] = DEG2RAD(m_joint[i]);
          break;
        case -1: // fixed
        default:
          m_pos[i] = 0.0;
          break;
      }
    }
  }