C++ (Cpp) JointData::getMaxNumJoints Examples

Example #1

File: joint_trajectory_streamer.cpp Project: WPI-ARC/motoman_support

bool MotomanJointTrajectoryStreamer::VectorToJointData(const std::vector<double> &vec,
    JointData &joints)
{
  if (vec.size() > joints.getMaxNumJoints())
    ROS_ERROR_RETURN(false, "Failed to copy to JointData.  Len (%d) out of range (0 to %d)",
                     vec.size(), joints.getMaxNumJoints());

  joints.init();
  for (int i = 0; i < vec.size(); ++i)
  {
    joints.setJoint(i, vec[i]);
  }
  return true;
}

Example #2

File: utest.cpp Project: CloPeMa/motoman

TEST(DISABLED_TrajectoryJob, init)
{

  using namespace std;

  TrajectoryJob job;
  JointTraj traj;
  JointTrajPt pt;
  JointData init;
  string job_name = "JOB_NAME";
  string job_ext = ".JBI";

  const int TRAJ_SIZE = 50;
  const int BIG_JOB_BUFFER_SIZE = 500000;
  char bigJobBuffer[BIG_JOB_BUFFER_SIZE];
  const int SMALL_JOB_BUFFER_SIZE = 10;
  char smallJobBuffer[SMALL_JOB_BUFFER_SIZE];

  for (int i = 1; i <= TRAJ_SIZE; i++)
  {
    //ROS_DEBUG("Initializing joint: %d", i);
    for (int j = 0; j < init.getMaxNumJoints(); j++)
    {
      //ROS_DEBUG("Initializing point: %d.%d", i, j);
      ASSERT_TRUE(init.setJoint(j, (i*(j+1))));
    }
    pt.init(i, init, 11.1111, 0.01);
    ASSERT_TRUE(traj.addPoint(pt));
  }

  EXPECT_FALSE(job.init("this name is way too long to be the name of a file and this should fail"));
  ASSERT_TRUE(job.init((char*)job_name.c_str()));

  EXPECT_FALSE(job.toJobString(traj, &smallJobBuffer[0], SMALL_JOB_BUFFER_SIZE));
  // Test is disabled because the line below fails due to missing conversions functions.  This
  // ability has been moved to the controller and now is dynamically updated at runtime.  There
  // may not be a solution to this issue.
  EXPECT_TRUE(job.toJobString(traj, &bigJobBuffer[0], BIG_JOB_BUFFER_SIZE));
  ofstream file;
  job_name.append(job_ext);
  file.open(job_name.c_str());
  ASSERT_TRUE(file.is_open());
  file << bigJobBuffer;
  file.close();


}