bool LocalPrefServer::QueueCommand(const ServerCommand& command, int id)
{
int playerNum = idToPlayerNum(id);
if( playerNum == InvalidPlayerNum ) {
return false;
}
addCommandToQueue(command, playerNum);
return true;
}
void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
double q3, double q4, double q5, double acc) {
char cmd[1024];
sprintf(cmd,
"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f, 0.02)\n",
q0, q1, q2, q3, q4, q5, acc);
addCommandToQueue((std::string) (cmd));
if (q0 != 0. || q1 != 0. || q2 != 0. || q3 != 0. || q4 != 0. || q5 != 0.) {
//If a joint speed is set, make sure we stop it again after some time if the user doesn't
safety_count_ = 0;
}
}