FalconCubeTest::FalconCubeTest(boost::shared_ptr<libnifalcon::FalconDevice> d) : FalconTestBase(d), m_cornerA(-.030, -.030, .095), m_cornerB(.030, .030, .155 ), m_stiffness(1000), m_isInitializing(true), m_hasPrintedInitMsg(false) { setPrintOnCount(1000); m_falconDevice->setFalconKinematic<libnifalcon::FalconKinematicStamper>(); }
FalconSphereTest::FalconSphereTest(std::shared_ptr<libnifalcon::FalconDevice> d) : FalconTestBase(d), m_radius(0.028), m_stiffness(1000.0), m_isInitializing(true), m_hasPrintedInitMsg(false), m_plusButtonDown(false), m_minusButtonDown(false), m_centerButtonDown(false), m_forwardButtonDown(false) { setPrintOnCount(1000); m_falconDevice->setFalconKinematic<libnifalcon::FalconKinematicStamper>(); m_falconDevice->setFalconGrip<libnifalcon::FalconGripFourButton>(); m_oldpos[0] = m_oldpos[1] = m_oldpos[2] = 0.0; }