C++ (Cpp) Arm::dof示例

示例#1

文件： Pose2MobileArm.cpp 项目： gtrll/gpmp2

/* ************************************************************************** */
Pose2MobileArm::Pose2MobileArm(const Arm& arm, const gtsam::Pose3& base_T_arm) :
    Base(arm.dof() + 3, arm.dof() + 1), base_T_arm_(base_T_arm), arm_(arm) {

  // check arm base pose, warn if non-zero
  if (!arm_.base_pose().equals(Pose3::identity(), 1e-6))
    cout << "[Pose2MobileArm] WARNING: Arm has non-zero base pose, this base pose will be override. "
        "Set the base_T_arm in Pose2MobileArm." << endl;
}

示例#2

文件： Pose2MobileVetLinArm.cpp 项目： gtrll/gpmp2

/* ************************************************************************** */
Pose2MobileVetLinArm::Pose2MobileVetLinArm(const Arm& arm, const gtsam::Pose3& base_T_torso, 
    const gtsam::Pose3& torso_T_arm, bool reverse_linact) : 
    Base(arm.dof() + 4, arm.dof() + 2), base_T_torso_(base_T_torso), torso_T_arm_(torso_T_arm), 
    reverse_linact_(reverse_linact), arm_(arm) {

  // check arm base pose, warn if non-zero
  if (!arm_.base_pose().equals(Pose3::identity(), 1e-6))
  cout << "[Pose2MobileArm] WARNING: Arm has non-zero base pose, this base pose will be override. "
      "Set the base_T_torso and torso_T_arm in Pose2MobileArm." << endl;
}