void Trainer::step(int value) { #ifdef DEBUG_TRAINER_2 qWarning("Trainer: Step %d", value); #endif emit stepOde(value); //odeCommandWaitCondition.wait(&odeCommandMutex); msleep(2000); #ifdef DEBUG_TRAINER qWarning("Trainer: Step OK"); #endif }
void robot(int com) { dReal MaxForce = dInfinity; odeJointSetHingeParam(mainLink.joint,dParamFMax,dInfinity); odeJointSetHingeParam(mainLink.joint,dParamVel, 0.9); odeJointSetHingeParam(LinkBall.joint,dParamFMax,dInfinity); odeJointSetHingeParam(LinkBall.joint,dParamVel, 0.9); stepOde(0); }