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*.txt | ||
!CMakeLists.txt | ||
*.log | ||
.project | ||
.cproject |
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/* ============================================================ | ||
* | ||
* This file is a part of RST-RT (CogIMon) project | ||
* | ||
* Copyright (C) 2016 by Dennis Leroy Wigand <dwigand at cor-lab dot uni-bielefeld dot de> | ||
* | ||
* This file may be licensed under the terms of the | ||
* GNU Lesser General Public License Version 3 (the ``LGPL''), | ||
* or (at your option) any later version. | ||
* | ||
* Software distributed under the License is distributed | ||
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either | ||
* express or implied. See the LGPL for the specific language | ||
* governing rights and limitations. | ||
* | ||
* You should have received a copy of the LGPL along with this | ||
* program. If not, go to http://www.gnu.org/licenses/lgpl.html | ||
* or write to the Free Software Foundation, Inc., | ||
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. | ||
* | ||
* The development of this software was supported by: | ||
* CoR-Lab, Research Institute for Cognition and Robotics | ||
* Bielefeld University | ||
* | ||
* ============================================================ */ | ||
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#include "JointState.hpp" | ||
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namespace rstrt { | ||
namespace robot { | ||
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JointState::JointState() { | ||
} | ||
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JointState::JointState(int size) { | ||
this->angles.resize(size); | ||
this->angles.fill(0); | ||
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this->velocities.resize(size); | ||
this->velocities.fill(0); | ||
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this->torques.resize(size); | ||
this->torques.fill(0); | ||
} | ||
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std::ostream& operator<<(std::ostream& os, const JointState& cd) { | ||
return os << "JointState : {\nangles : " << cd.angles << "\nvelocities : " << cd.velocities << "\ntorques : " << cd.torques << "\n}"; | ||
} | ||
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std::istream& operator>>(std::istream& is, JointState& cd) { | ||
return is;// >> cd.angles; | ||
} | ||
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} | ||
} |
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/* ============================================================ | ||
* | ||
* This file is a part of RST-RT (CogIMon) project | ||
* | ||
* Copyright (C) 2016 by Dennis Leroy Wigand <dwigand at cor-lab dot uni-bielefeld dot de> | ||
* | ||
* This file may be licensed under the terms of the | ||
* GNU Lesser General Public License Version 3 (the ``LGPL''), | ||
* or (at your option) any later version. | ||
* | ||
* Software distributed under the License is distributed | ||
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either | ||
* express or implied. See the LGPL for the specific language | ||
* governing rights and limitations. | ||
* | ||
* You should have received a copy of the LGPL along with this | ||
* program. If not, go to http://www.gnu.org/licenses/lgpl.html | ||
* or write to the Free Software Foundation, Inc., | ||
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. | ||
* | ||
* The development of this software was supported by: | ||
* CoR-Lab, Research Institute for Cognition and Robotics | ||
* Bielefeld University | ||
* | ||
* ============================================================ */ | ||
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#pragma once | ||
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#include <iostream> | ||
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#include <Eigen/Dense> | ||
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namespace rstrt { | ||
namespace robot { | ||
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class JointState { | ||
public: | ||
JointState(); | ||
JointState(int size); | ||
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//private: | ||
Eigen::VectorXf angles; | ||
Eigen::VectorXf velocities; | ||
Eigen::VectorXf torques; | ||
}; | ||
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// Displaying: | ||
std::ostream& operator<<(std::ostream& os, const JointState& cd); | ||
// Reading: | ||
std::istream& operator>>(std::istream& is, JointState& cd); | ||
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} | ||
} |