84 lines
2.0 KiB
C++
Executable File
84 lines
2.0 KiB
C++
Executable File
#ifndef CTRLCOMPONENTS_H
|
|
#define CTRLCOMPONENTS_H
|
|
|
|
|
|
#include "message/LowlevelCmd.h"
|
|
#include "message/LowlevelState.h"
|
|
#include "interface/IOInterface.h"
|
|
#include "interface/IOROS.h"
|
|
#include "model/ArmDynKineModel.h"
|
|
#include "model/ArmReal.h"
|
|
#include "common/utilities/CSVTool.h"
|
|
#include <string>
|
|
#include <iostream>
|
|
|
|
#ifdef COMPILE_DEBUG
|
|
#include "common/utilities/PyPlot.h"
|
|
#endif // COMPILE_DEBUG
|
|
|
|
struct CtrlComponents{
|
|
public:
|
|
CtrlComponents(){}
|
|
~CtrlComponents(){
|
|
delete lowCmd;
|
|
delete lowState;
|
|
delete ioInter;
|
|
delete armModel;
|
|
delete stateCSV;
|
|
|
|
|
|
|
|
#ifdef COMPILE_DEBUG
|
|
delete plot;
|
|
#endif // COMPILE_DEBUG
|
|
}
|
|
|
|
int dof;
|
|
std::string armConfigPath;
|
|
LowlevelCmd *lowCmd;
|
|
LowlevelState *lowState;
|
|
IOInterface *ioInter;
|
|
ArmDynKineModel *armModel;
|
|
CSVTool *stateCSV;
|
|
|
|
#ifdef COMPILE_DEBUG
|
|
PyPlot *plot;
|
|
#endif // COMPILE_DEBUG
|
|
|
|
double dt;
|
|
bool *running;
|
|
|
|
void sendRecv(){
|
|
ioInter->sendRecv(lowCmd, lowState);
|
|
}
|
|
|
|
void geneObj(){
|
|
lowCmd = new LowlevelCmd();
|
|
lowState = new LowlevelState(dt);
|
|
|
|
#ifdef NO_GRIPPER
|
|
// armModel = new Z1DynKineModel();
|
|
armModel = new Z1DynKineModel(Vec3(0.0, 0.0, 0.0),
|
|
0.0, Vec3(0.0, 0.0, 0.0), Vec3(0.0, 0.0, 0.0).asDiagonal());
|
|
#endif
|
|
#ifdef AG95
|
|
armModel = new Z1DynKineModel(Vec3(0.21, 0, 0),
|
|
1.107, Vec3(0.092, 0, 0), Vec3(0.005, 0.005, 0.005).asDiagonal());
|
|
#endif
|
|
#ifdef MASS3KG
|
|
armModel = new Z1DynKineModel(Vec3(0.05, 0, 0),
|
|
3.1, Vec3(0.05, 0, 0), Vec3(0.005, 0.005, 0.005).asDiagonal());
|
|
#endif
|
|
#ifdef UNITREE_GRIPPER
|
|
// 安装面高出6mm
|
|
// armModel = new Z1DynKineModel(Vec3(0.141, 0, -0.005),
|
|
// 0.712, Vec3(0.0488, 0.0, 0.002), Vec3(0.000688, 0.000993, 0.000812).asDiagonal());
|
|
armModel = new Z1DynKineModel(Vec3(0.0, 0.0, 0.0),
|
|
0.80225, Vec3(0.0037, 0.0014, -0.0003), Vec3(0.00057593, 0.00099960, 0.00106337).asDiagonal());
|
|
#endif
|
|
}
|
|
|
|
private:
|
|
};
|
|
|
|
#endif // CTRLCOMPONENTS_H
|