C++ (Cpp) Link::dq_target Examples

Example #1

File: SampleCrawlerController.cpp Project: kindsenior/choreonoid

    virtual bool control() override
    {
        if(time < 2.0){
            crawlerL->dq_target() = 1.5;
            crawlerR->dq_target() = 1.5;

        } else if(time < 3.0){
            crawlerL->dq_target() =  1.0;
            crawlerR->dq_target() = -1.0;

        } else if(time < 5.0){
            crawlerL->dq_target() = 1.5;
            crawlerR->dq_target() = 1.5;

        } else if(time < 6.0){
            crawlerL->dq_target() = -1.0;
            crawlerR->dq_target() =  1.0;
        }

        time = fmod(time + dt, 6.0);

        return true;
    }

Example #2

File: ConveyorController.cpp Project: kindsenior/choreonoid

 virtual bool control() override
 {
     conveyorJoint->dq_target() = 1.0;
     return true;
 }