C++ (Cpp) ReferenceFrame::Set 예제들

예제 #1

파일: MultiFingersObjImpController.cpp 프로젝트: epfl-lasa/object-impedance-control

void MultiFingersObjImpController::GetFKRefFrame(int ind, ReferenceFrame& refFrame)
{
    if(ind < mFingerDescriptors.size())
    {
        mSensorsGroup.ReadSensors();
        Vector currJntPos = mSensorsGroup.GetJointAngles();
        refFrame.Set(mRobot.GetReferenceFrame(mFingerDescriptors[ind].nEndID, mFingerDescriptors[ind].nStartID));
        //printf("Calculate Foward Kinematics between link %d and %d\n", mFingerDescriptors[ind].nStartID, mFingerDescriptors[ind].nEndID);
        //refFrame.GetOrigin().Print();
        //refFrame.GetOrient().Print();
    }

    //printf("Getting FK ref frame done.\n");
    return;
}