void BaxterGripperController::update(const ros::Time& time,
const ros::Duration& period) {
// Debug info
update_counter++;
//TODO: Change to ROS Param (20 Hz)
if (update_counter % 5 == 0) {
updateCommands();
}
// Apply joint commands
for (size_t i = 0; i < n_joints; i++) {
// Update the individual joint controllers
gripper_controllers[i]->update(time, period);
}
}
void TEditor::setState( ushort aState, Boolean enable )
{
TView::setState(aState, enable);
switch( aState )
{
case sfActive:
if( hScrollBar != 0 )
hScrollBar->setState(sfVisible, enable);
if( vScrollBar != 0 )
vScrollBar->setState(sfVisible, enable);
if( indicator != 0 )
indicator->setState(sfVisible, enable);
updateCommands();
break;
case sfExposed:
if( enable == True )
unlock();
}
}
void TEditor::doUpdate()
{
if( updateFlags != 0 )
{
setCursor(curPos.x - delta.x, curPos.y - delta.y);
if( (updateFlags & ufView) != 0 )
drawView();
else
if( (updateFlags & ufLine) != 0 )
drawLines( curPos.y-delta.y, 1, lineStart(curPtr) );
if( hScrollBar != 0 )
hScrollBar->setParams(delta.x, 0, limit.x - size.x, size.x / 2, 1);
if( vScrollBar != 0 )
vScrollBar->setParams(delta.y, 0, limit.y - size.y, size.y - 1, 1);
if( indicator != 0 )
indicator->setValue(curPos, modified);
if( (state & sfActive) != 0 )
updateCommands();
updateFlags = 0;
}
}
