C++ (Cpp) PCube_setMaxVel Examples

Example #1

File: PowerCubeCtrl.cpp Project: ipa-fmw-hj/cob_driver

bool PowerCubeCtrl::setMaxVelocity(const std::vector<double>& maxVelocities)
{
  PCTRL_CHECK_INITIALIZED();

  for (int i = 0; i < m_params->GetDOF(); i++)
  {
    pthread_mutex_lock(&m_mutex);
    PCube_setMaxVel(m_DeviceHandle, m_params->GetModuleID(i), maxVelocities[i]);
    pthread_mutex_unlock(&m_mutex);
    m_params->SetMaxVel(maxVelocities);
  }

  return true;
}

Example #2

File: PowerCubeCtrl.cpp Project: ipa-aub-cb/cob_driver

/// @brief Sets the maximum angular velocity (rad/s) for the Joints, use with care!
/// A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
bool PowerCubeCtrl::setMaxVelocity(double maxVelocity)
{
  PCTRL_CHECK_INITIALIZED();
  for (int i = 0; i < m_params->GetDOF(); i++)
  {
    pthread_mutex_lock(&m_mutex);
    //std::cout << "------------------------------> PCube_setMaxVel()" << std::endl;
    PCube_setMaxVel(m_DeviceHandle, m_params->GetModuleID(i), maxVelocity);
    pthread_mutex_unlock(&m_mutex);

    std::vector<double> maxVelocities(maxVelocity);
    m_params->SetMaxVel(maxVelocities);
  }

  return true;
}