38 lines
931 B
C++
38 lines
931 B
C++
#ifndef USERVALUE_H
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#define USERVALUE_H
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#include "common/math/mathTypes.h"
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#include "common/utilities/typeTrans.h"
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#include <vector>
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template<typename T>
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std::vector<T> cutVector(std::vector<T> vec, size_t startID, size_t length){
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std::vector<T> result;
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result.assign(vec.begin()+startID, vec.begin()+startID+length);
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return result;
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}
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struct UserValue{
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Vec6 moveAxis;
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double gripperPos;
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void setData(std::vector<double> rawData){
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if(rawData.size() != 7){
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std::cout << "[ERROR] UserValue::setData, the size of rawDate is " << rawData.size() << " but not 7" << std::endl;
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}
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gripperPos = rawData.at(6);
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rawData = cutVector(rawData, 0, 6);
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moveAxis = typeTrans::getValue(rawData, moveAxis);
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}
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UserValue(){
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setZero();
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}
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void setZero(){
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moveAxis.setZero();
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gripperPos = 0;
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// gripperTau = 0;
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}
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};
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#endif |