47 lines
934 B
C++
Executable File
47 lines
934 B
C++
Executable File
#ifndef CTRLCOMPONENTS_H
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#define CTRLCOMPONENTS_H
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#include "message/LowlevelCmd.h"
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#include "message/LowlevelState.h"
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#include "interface/IOInterface.h"
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#include "interface/IOROS.h"
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#include "model/ArmDynKineModel.h"
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#include "common/utilities/CSVTool.h"
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#include <string>
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#include <iostream>
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#include "common/math/robotics.h"
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struct CtrlComponents{
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public:
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CtrlComponents();
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~CtrlComponents();
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int dof;
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std::string armConfigPath;
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LowlevelCmd *lowCmd;
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LowlevelState *lowState;
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IOInterface *ioInter;
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ArmDynKineModel *armModel;
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CSVTool *stateCSV;
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//config
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Control ctrl;
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bool _hasGripper;
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std::string ctrl_IP;
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double dt;
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bool *running;
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void sendRecv();
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void geneObj();
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bool isRecord;
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void writeData();
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private:
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Vec3 _endPosLocal;
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double _endEffectorMass;
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Vec3 _endEffectorCom;
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Mat3 _endEffectorInertia;
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};
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#endif // CTRLCOMPONENTS_H
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