C++ (Cpp) tgSpringCableActuator::getConfigの例

コード例 #1

ファイル: JSONMetricsFeedbackControl.cpp プロジェクト: NASA-Tensegrity-Robotics-Toolkit/NTRTsim

std::vector<double> JSONMetricsFeedbackControl::getCableState(const tgSpringCableActuator& cable)
{
	// For each string, scale value from -1 to 1 based on initial length or max tension of motor
    
    std::vector<double> state;
    
    // Scale length by starting length
    const double startLength = cable.getStartLength();
    state.push_back((cable.getCurrentLength() - startLength) / startLength);
    
    const double maxTension = cable.getConfig().maxTens;
    state.push_back((cable.getTension() - maxTension / 2.0) / maxTension);
    
	return state;
}