From f386560d6d810d388c7b28928a1c1a5c032f78b9 Mon Sep 17 00:00:00 2001 From: Agnel Wang <59766821+Agnel-Wang@users.noreply.github.com> Date: Wed, 14 Dec 2022 20:29:47 +0800 Subject: [PATCH] Reduced acceleration --- include/FSM/FSMState.h | 14 ++++++++++++-- include/trajectory/JointSpaceTraj.h | 5 +++++ lib/libZ1_ROS_Linux64.so | Bin 1639984 -> 1639920 bytes lib/libZ1_UDP_Linux64.so | Bin 1548912 -> 1548848 bytes 4 files changed, 17 insertions(+), 2 deletions(-) diff --git a/include/FSM/FSMState.h b/include/FSM/FSMState.h index a983cc8..e505e7b 100755 --- a/include/FSM/FSMState.h +++ b/include/FSM/FSMState.h @@ -30,11 +30,21 @@ protected: IOInterface *_ioInter; ArmModel *_armModel; - Vec6 _qPast, _qdPast, _q, _qd, _qdd, _tauf, _tauCmd, _g; + Vec6 _qPast, _qdPast, _q, _qd, _qdd, _tauForward; double _gripperPos, _gripperW, _gripperTau; - uint _collisionCnt; CtrlComponents *_ctrlComp; + Vec6 _g, _tauCmd; + +private: + void _tauFriction(); + + uint _collisionCnt; + + Vec6 _mLinearFriction; + Vec6 _mCoulombFriction; + Vec6 _tauFric; + }; #endif // FSMSTATE_H diff --git a/include/trajectory/JointSpaceTraj.h b/include/trajectory/JointSpaceTraj.h index a63cce4..bf374d1 100755 --- a/include/trajectory/JointSpaceTraj.h +++ b/include/trajectory/JointSpaceTraj.h @@ -7,6 +7,7 @@ #include "control/CtrlComponents.h" #include "trajectory/SCurve.h" + class JointSpaceTraj : public Trajectory{ public: JointSpaceTraj(CtrlComponents *ctrlComp); @@ -20,9 +21,13 @@ public: bool setJointTraj(Vec6 startQ, std::string endName, double speed); bool setJointTraj(std::string startName, std::string endName, double speed); private: + void _generateA345(double pathTime); + SCurve _jointCurve; double ddQMax; double dddQMax; + + double _a3, _a4, _a5, _s, _sDot; }; #endif // JOINTSPACETRAJ_H \ No newline at end of file diff --git a/lib/libZ1_ROS_Linux64.so b/lib/libZ1_ROS_Linux64.so index 21adce21ec52956ebdaa084a29cbed757eeffcd2..df90e20619b43b39d3e127cef2aa8a893961ff69 100644 GIT binary patch delta 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