EmbodiedAI
/
z1_controller
mirror of https://github.com/unitreerobotics/z1_controller.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

change default trajectory

This commit is contained in:
Agnel Wang 2022-11-11 20:41:14 +08:00
parent 6e865f0f56
commit 05bc586847
4 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@ -8,6 +8,7 @@ set(CMAKE_CXX_FLAGS "$ENV{CXXFLAGS} -O3")
set(COMMUNICATION UDP) # UDP set(COMMUNICATION UDP) # UDP
# set(COMMUNICATION ROS) # ROS # set(COMMUNICATION ROS) # ROS
# ----------------------configurations---------------------- # ----------------------configurations----------------------
# COMMUNICATION # COMMUNICATION
if(${COMMUNICATION} STREQUAL "UDP") if(${COMMUNICATION} STREQUAL "UDP")
@ -59,7 +60,6 @@ include_directories(
link_directories(lib) link_directories(lib)
# ----------------------add executable---------------------- # ----------------------add executable----------------------
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../build) # EXECUTABLE:CMAKE_RUNTIME_OUTPUT_DIRECTORY set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../build) # EXECUTABLE:CMAKE_RUNTIME_OUTPUT_DIRECTORY
add_executable(z1_ctrl main.cpp) add_executable(z1_ctrl main.cpp)

1
include/control/CtrlComponents.h
View File

@ -37,6 +37,7 @@ public:
bool isCollisionOpen; bool isCollisionOpen;
double collisionTLimit; double collisionTLimit;
bool isPlot; bool isPlot;
int trajChoose = 1;
void geneObj(); void geneObj();
void writeData(); void writeData();

BIN
lib/libZ1_ROS_Linux64.so
View File

Binary file not shown.

BIN
lib/libZ1_UDP_Linux64.so
View File

Binary file not shown.