//==============================================================================
bool cMyCustomDevice::getGripperAngleRad(double& a_angle)
{
////////////////////////////////////////////////////////////////////////////
/*
STEP 9:
Here you may implement code which reads the position angle of your
gripper. The result must be returned in radian.
If the operation fails return an error code such as C_ERROR for instance.
*/
////////////////////////////////////////////////////////////////////////////
bool result = C_SUCCESS;
// *** INSERT YOUR CODE HERE, MODIFY CODE BELLOW ACCORDINGLY ***
// return gripper angle in radian
a_angle = 0.0; // a_angle = getGripperAngleInRadianFromMyDevice();
// estimate gripper velocity
estimateGripperVelocity(a_angle);
// exit
return (result);
}
//===========================================================================
int cHydraDevice::getGripperAngleRad(double& a_angle)
{
/************************************************************************
STEP 8:
Here you may implement code which reads the position angle of your
gripper. The result must be returned in radian.
If the operation fails return an error code such as -1 for instance.
*************************************************************************/
int error = 0;
// *** INSERT YOUR CODE HERE, MODIFY CODE BELLOW ACCORDINGLY ***
// return gripper angle
sixenseAllControllerData acd;
sixenseGetAllNewestData( &acd );
a_angle = acd.controllers[a_deviceNumber].trigger * 3.141592 / 4;
// std::cout << "hydragrip " << a_angle << std::endl;
// estimate gripper velocity
estimateGripperVelocity(a_angle);
// exit
return (error);
}
//===========================================================================
int cMyCustomDevice::getGripperAngleRad(double& a_angle)
{
// temp variables
int error = 0;
/************************************************************************
STEP 8:
Here you may implement code which reads the position angle of your
gripper. The result must be returned in radian.
If the operation fails return an error code.
*************************************************************************/
// *** INSERT YOUR CODE HERE, MODIFY CODE BELLOW ACCORDINGLY ***
// return gripper angle
a_angle = 0.0;
// estimate gripper velocity
estimateGripperVelocity(a_angle);
// exit
return (error);
}
