Exemplos de RunPositionCartesian em C++ (Cpp)

Exemplo n.º 1

Arquivo: mtsIntuitiveResearchKitArm.cpp Projeto: yijun1hu/sawIntuitiveResearchKit

void mtsIntuitiveResearchKitArm::Run(void)
{
    ProcessQueuedEvents();
    GetRobotData();

    switch (RobotState) {
    case mtsIntuitiveResearchKitArmTypes::DVRK_UNINITIALIZED:
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_HOMING_POWERING:
        RunHomingPower();
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_HOMING_CALIBRATING_ARM:
        RunHomingCalibrateArm();
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_ARM_CALIBRATED:
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_READY:
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_POSITION_JOINT:
        RunPositionJoint();
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_POSITION_GOAL_JOINT:
        RunPositionGoalJoint();
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_POSITION_CARTESIAN:
        RunPositionCartesian();
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_POSITION_GOAL_CARTESIAN:
        RunPositionGoalCartesian();
        break;
    case mtsIntuitiveResearchKitArmTypes::DVRK_MANUAL:
        break;
    default:
        RunArmSpecific();
        break;
    }

    RunEvent();
    ProcessQueuedCommands();

    mCounter++;
    CartesianGetPrevious = CartesianGet;
}

Exemplo n.º 2

Arquivo: mtsIntuitiveResearchKitPSM.cpp Projeto: wangcong04/sawIntuitiveResearchKit

void mtsIntuitiveResearchKitPSM::Run(void)
{
    Counter++;

    ProcessQueuedEvents();
    GetRobotData();

    switch (RobotState) {
    case PSM_UNINITIALIZED:
        break;
    case PSM_HOMING_POWERING:
        RunHomingPower();
        break;
    case PSM_HOMING_CALIBRATING_ARM:
        RunHomingCalibrateArm();
        break;
    case PSM_ARM_CALIBRATED:
        break;
    case PSM_ENGAGING_ADAPTER:
        RunEngagingAdapter();
        break;
    case PSM_ADAPTER_ENGAGED:
        // choose next state
        break;
    case PSM_ENGAGING_TOOL:
        RunEngagingTool();
        break;
    case PSM_READY:
    case PSM_POSITION_CARTESIAN:
        RunPositionCartesian();
        break;
    case PSM_MANUAL:
        break;
    default:
        break;
    }

    RunEvent();
    ProcessQueuedCommands();
}

Exemplo n.º 3

Arquivo: mtsIntuitiveResearchKitMTM.cpp Projeto: RCL-UBC/RCL-DVRK

void mtsIntuitiveResearchKitMTM::Run(void)
{
    ProcessQueuedEvents();
    GetRobotData();

    switch (RobotState) {
    case mtsIntuitiveResearchKitMTMTypes::MTM_UNINITIALIZED:
        break;
    case mtsIntuitiveResearchKitMTMTypes::MTM_HOMING_POWERING:
        RunHomingPower();
        break;
    case mtsIntuitiveResearchKitMTMTypes::MTM_HOMING_CALIBRATING_ARM:
        RunHomingCalibrateArm();
        break;
    case mtsIntuitiveResearchKitMTMTypes::MTM_HOMING_CALIBRATING_ROLL:
        RunHomingCalibrateRoll();
        break;
    case mtsIntuitiveResearchKitMTMTypes::MTM_READY:
        break;
    case mtsIntuitiveResearchKitMTMTypes::MTM_POSITION_CARTESIAN:
        RunPositionCartesian();
        break;
    case mtsIntuitiveResearchKitMTMTypes::MTM_GRAVITY_COMPENSATION:
        RunGravityCompensation();
        break;
    case mtsIntuitiveResearchKitMTMTypes::MTM_CLUTCH:
        RunClutch();
    default:
        break;
    }

    RunEvent();
    ProcessQueuedCommands();

    // update previous value
    CartesianGetPrevious = CartesianGet;
}