qlin/sas_robot_driver_franka
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updated the class

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This commit is contained in:
Juancho
2023-06-07 10:47:21 +09:00
parent e036a80531
commit f5a35ec2bd
7 changed files with 12 additions and 5 deletions
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3
.gitmodules vendored Normal file
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@@ -0,0 +1,3 @@
[submodule "constraints_manager"]
path = constraints_manager
url = https://github.com/juanjqo/constraints_manager.git

3
CMakeLists.txt
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@@ -43,6 +43,8 @@ add_library(MotionGenerator src/motion_generator.cpp)
target_link_libraries(MotionGenerator Franka::Franka) target_link_libraries(MotionGenerator Franka::Franka)
add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
add_library(QuadraticProgramMotionGenerator src/quadratic_program_motion_generator.cpp) add_library(QuadraticProgramMotionGenerator src/quadratic_program_motion_generator.cpp)
target_link_libraries(QuadraticProgramMotionGenerator target_link_libraries(QuadraticProgramMotionGenerator
qpOASES qpOASES
@@ -71,6 +73,7 @@ include_directories(
include include
src/ src/
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
constraints_manager/include
) )

1
constraints_manager Submodule

Submodule constraints_manager added at 920afaf5ff

2
include/quadratic_program_motion_generator.h
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@@ -6,7 +6,7 @@
#include <iostream> #include <iostream>
#include <dqrobotics/solvers/DQ_QPOASESSolver.h> #include <dqrobotics/solvers/DQ_QPOASESSolver.h>
#include <memory> #include <memory>
#include "ConstraintsManager.h" #include "constraints_manager.h"
using namespace DQ_robotics; using namespace DQ_robotics;

4
include/robot_interface_franka.h
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@@ -8,9 +8,9 @@
#include <franka/robot.h> #include <franka/robot.h>
#include <franka/gripper.h> #include <franka/gripper.h>
#include <franka/exception.h> #include <franka/exception.h>
#include "MotionGenerator.h" #include "motion_generator.h"
#include <thread> #include <thread>
#include "QuadraticProgramMotionGenerator.h" #include "quadratic_program_motion_generator.h"
#include <dqrobotics/robots/FrankaEmikaPandaRobot.h> #include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
#include <atomic> #include <atomic>

2
src/motion_generator.cpp
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@@ -1,6 +1,6 @@
// Copyright (c) 2017 Franka Emika GmbH // Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE // Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include "MotionGenerator.h" #include "motion_generator.h"
#include <algorithm> #include <algorithm>
#include <array> #include <array>
#include <cmath> #include <cmath>

2
src/quadratic_program_motion_generator.cpp
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@@ -1,4 +1,4 @@
#include "QuadraticProgramMotionGenerator.h" #include "quadratic_program_motion_generator.h"
QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor, QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor,