protected override void Update()
{
base.Update();
this.elapsedTime += UnityEngine.Time.deltaTime;
if (this.elapsedTime < this.sendingInterval * 0.001)
{
return;
}
this.elapsedTime = 0.0f;
List <double> positions = new List <double>()
{
TIAGoCommon.GetNormalizedJointEulerAngle(-(this.arm1Link.localEulerAngles.z - this.arm1LinkIniRotZ), TIAGoCommon.Joint.arm_1_joint) * Mathf.Deg2Rad, // 1
TIAGoCommon.GetNormalizedJointEulerAngle(+(this.arm2Link.localEulerAngles.y), TIAGoCommon.Joint.arm_2_joint) * Mathf.Deg2Rad, // 2
TIAGoCommon.GetNormalizedJointEulerAngle(-(this.arm3Link.localEulerAngles.z - this.arm3LinkIniRotZ), TIAGoCommon.Joint.arm_3_joint) * Mathf.Deg2Rad, // 3
TIAGoCommon.GetNormalizedJointEulerAngle(-(this.arm4Link.localEulerAngles.y - this.arm4LinkIniRotY), TIAGoCommon.Joint.arm_4_joint) * Mathf.Deg2Rad, // 4
TIAGoCommon.GetNormalizedJointEulerAngle(-(this.arm5Link.localEulerAngles.z), TIAGoCommon.Joint.arm_5_joint) * Mathf.Deg2Rad, // 5
TIAGoCommon.GetNormalizedJointEulerAngle(-(this.arm6Link.localEulerAngles.y - this.arm6LinkIniRotY), TIAGoCommon.Joint.arm_6_joint) * Mathf.Deg2Rad, // 6
TIAGoCommon.GetNormalizedJointEulerAngle(-(this.arm7Link.localEulerAngles.z - this.arm7LinkIniRotZ), TIAGoCommon.Joint.arm_7_joint) * Mathf.Deg2Rad, // 7
+(this.gripperLeftFingerLink.localPosition.x - this.gripperLeftFingerLinkIniPosX), // 8
-(this.gripperRightFingerLink.localPosition.x - this.gripperRightFingerLinkIniPosX), // 9
TIAGoCommon.GetNormalizedJointEulerAngle(-this.head1Link.localEulerAngles.z, TIAGoCommon.Joint.head_1_joint) * Mathf.Deg2Rad, // 10
TIAGoCommon.GetNormalizedJointEulerAngle(+this.head2Link.localEulerAngles.y, TIAGoCommon.Joint.head_2_joint) * Mathf.Deg2Rad, // 11
+(this.torsoLiftLink.localPosition.z - this.torsoLiftLinkIniPosZ), // 12
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 // 13 -- 24
};
this.jointState.header.Update();
this.jointState.position = positions;
this.publisher.Publish(this.jointState);
}
private void UpdateLinkAngle(Transform link, TIAGoCommon.Joint joint, float iniRot, Vector3 axis)
{
float newPosRad = TrajectoryInfo.GetPositionAndUpdateTrajectory <TIAGoCommon.Joint>(this.trajectoryInfoMap, joint, TIAGoCommon.GetMinJointSpeed(joint), TIAGoCommon.GetMaxJointSpeed(joint));
float newPos = TIAGoCommon.GetNormalizedJointEulerAngle(newPosRad * Mathf.Rad2Deg, joint);
TrajectoryInfo.UpdateLinkAngle(link, axis, newPos - iniRot);
}
private void SetJointTrajectoryRotation(TIAGoCommon.Joint joint, List <float> durations, List <float> goalPositions, float currentPosition)
{
this.trajectoryInfoMap[joint] = new TrajectoryInfo(durations, goalPositions, TIAGoCommon.GetNormalizedJointEulerAngle(currentPosition, joint) * Mathf.Deg2Rad);
}
