bool MotionPlayer::init(robotcontrol::RobotModel* model)
{
if (! robotcontrol::MotionModule::init(model))
return false;
fs::path p((ros::package::getPath("launch") + "/motions"));
if (! loadMotionFiles(p))
return false;
m_model = model;
m_state_prone = m_model->registerState("prone");
m_state_supine = m_model->registerState("supine");
m_state_init = m_model->registerState("init");
m_state_relaxed = m_model->registerState("relaxed");
initMotions();
m_cmdPositions.resize(model->numJoints());
m_cmdEffort.resize(model->numJoints());
/*
* Change the initial Pose of the Robot from standing (zero-positions) to
* a sitting pose
*/
motion_player::PlayMotion initPose;
initPose.request.name = "INIT_POSE";
handlePlay(initPose.request, initPose.response);
return true;
}
//-----------------------------------------------------------------------------------------------------
void Section::init(int w,int h,int s,int vw,int vh){
debug = true;
if(debug) cout << "[[Section::init]] begin" << endl;
//set dimensions
screens = s;
width = w;
height = h;
viewportWidth = vw;
viewportHeight = vh ;
//transition
fadeOverlayAlpha = 255 ;
fadeStep = 10;
fadeInFlag = false;
fadeOutFlag = false;
fadeOveylayOn = false;
//get ready before play
loading = false;
initScreens();
initMotions();
drawingCtrlView = false;
ctrlScreen=0;
logosSetup();
contentManager.setSectionListener(this);
//pause feature
pausedFrame=0;
pausedToggle=false;
if(debug) cout << "[[Section::init]] end" << endl;
}
