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jaco_command_sender.cc
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jaco_command_sender.cc
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#include "drake/manipulation/kinova_jaco/jaco_command_sender.h"
#include "drake/common/drake_assert.h"
namespace drake {
namespace manipulation {
namespace kinova_jaco {
using drake::systems::kVectorValued;
JacoCommandSender::JacoCommandSender(int num_joints, int num_fingers)
: num_joints_(num_joints),
num_fingers_(num_fingers) {
position_input_ = &DeclareInputPort(
"position", kVectorValued, num_joints_ + num_fingers_);
velocity_input_ = &DeclareInputPort(
"velocity", kVectorValued, num_joints_ + num_fingers_);
time_input_ = &DeclareInputPort("time", kVectorValued, 1);
this->DeclareAbstractOutputPort(
"lcmt_jaco_command", &JacoCommandSender::CalcOutput);
}
void JacoCommandSender::CalcOutput(
const systems::Context<double>& context, lcmt_jaco_command* output) const {
if (time_input_->HasValue(context)) {
output->utime = time_input_->Eval(context)[0] * 1e6;
} else {
output->utime = context.get_time() * 1e6;
}
output->num_joints = num_joints_;
output->joint_position.resize(num_joints_);
output->joint_velocity.resize(num_joints_);
output->num_fingers = num_fingers_;
output->finger_position.resize(num_fingers_);
output->finger_velocity.resize(num_fingers_);
const auto& position = position_input_->Eval(context);
const auto& velocity = velocity_input_->Eval(context);
for (int i = 0; i < num_joints_; ++i) {
output->joint_position[i] = position(i);
output->joint_velocity[i] = velocity(i);
}
for (int i = 0; i < num_fingers_; ++i) {
output->finger_position[i] =
position(num_joints_ + i) * kFingerUrdfToSdk;
output->finger_velocity[i] =
velocity(num_joints_ + i) * kFingerUrdfToSdk;
}
}
} // namespace kinova_jaco
} // namespace manipulation
} // namespace drake