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fix comment about "twsit"

This commit is contained in:
Agnel Wang 2022-12-14 20:27:01 +08:00
parent 2824dc0b41
commit 29bdbad6eb
2 changed files with 11 additions and 8 deletions
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2
examples/highcmd_basic.cpp
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@ -53,7 +53,7 @@ void Z1ARM::armCtrlInCartesian(){
for(int i(0); i<1000;i++){ for(int i(0); i<1000;i++){
directions<< 0, 0, 0, 0, 0, -1, 0; directions<< 0, 0, 0, 0, 0, -1, 0;
cartesianCtrlCmd(directions, 0., 0.1); cartesianCtrlCmd(directions, 0.3, 0.1);
usleep(_ctrlComp->dt*1000000); usleep(_ctrlComp->dt*1000000);
} }
} }

15
include/unitree_arm_sdk/control/unitreeArm.h
View File

@ -134,7 +134,7 @@ bool MoveC(Vec6 middlePosutre, Vec6 endPosture, double gripperPos, double maxSpe
* if you run function startTrack(ArmFSMState::CARTESIAN), * if you run function startTrack(ArmFSMState::CARTESIAN),
* firstly, the following parameters will be set at the first time: * firstly, the following parameters will be set at the first time:
* twist.setZero() * twist.setZero()
* then you can change it to control robot * then you can change it to control robot, [Based on the object coordinate system]
*/ */
void startTrack(ArmFSMState fsm); void startTrack(ArmFSMState fsm);
/* /*
@ -187,6 +187,7 @@ void jointCtrlCmd(Vec7 directions, double jointSpeed);
/* /*
* Function: set spatial velocity command automatically by input parameters * Function: set spatial velocity command automatically by input parameters
Based on the object coordinate system
* Input: directions: movement directions [include gripper], range:[-1,1] * Input: directions: movement directions [include gripper], range:[-1,1]
* raw, pitch, yaw, x, y, z, gripper * raw, pitch, yaw, x, y, z, gripper
* oriSpeed: range: [0, 0.6] * oriSpeed: range: [0, 0.6]
@ -196,11 +197,13 @@ void jointCtrlCmd(Vec7 directions, double jointSpeed);
* Description: The function is typically used to control the robot by keyboard or joystick * Description: The function is typically used to control the robot by keyboard or joystick
* When a key is pressed, the directions[i] is set to 1 or -1, and the function will * When a key is pressed, the directions[i] is set to 1 or -1, and the function will
* automatically execute the following command: * automatically execute the following command:
* Tdelta = directions * speed * postureDelta = directions * speed
* Tgoal = Tdelta * Tpast * postureGoal = postureDelta + posturePast
* omega = so3ToVec(MatrixLog3( Tpast.Rot.Transpose * Tgoal.Rot )) * Tgoal = postureToHomo(postureGoal)
* v = Tdelta.t * Tpast = postureToHomo(posturePast)
* twist = (omega, v) * omega = so3ToVec(MatrixLog3( Tpast.Rot.Transpose * Tgoal.Rot ))
* v = Tdelta.t
* twist = (omega, v)
* if directions == 0, the robot stop moving * if directions == 0, the robot stop moving
*/ */
void cartesianCtrlCmd(Vec7 directions, double oriSpeed, double posSpeed); void cartesianCtrlCmd(Vec7 directions, double oriSpeed, double posSpeed);