C++ (Cpp) ControllerPtr::getOutput Examples

Example #1

File: AcrobotArticulatedBody.cpp Project: allenscape/locomotor

/// Provides new values that the body should use to control it's actuators.
void
Else::AcrobotArticulatedBody
::setActuators( const ControllerPtr argController )
{
    // 1 actuator
    double torque = 0.85 * scaleTorque( argController->getOutput(1, 0) );
    dJointAddHingeTorque( myJoints[0], torque );
}