public void Read(out string name, out float position, out float velocity, out float effort)
{
name = urdfJoint.JointName;
position = urdfJoint.GetPosition();
velocity = urdfJoint.GetVelocity();
effort = urdfJoint.GetEffort();
}
public void Read(out string name, out float position, out float velocity, out float effort)
{
name = urdfJoint.JointName;
if (_robotJoint.GetJointType() == "prismatic")
{
position = urdfJoint.GetPosition() + _robotJoint.offset;
}
else
{
position = urdfJoint.GetPosition();
float robotJointPosition = -(_robotJoint.GetPosition()) * Mathf.Deg2Rad;
if (position - robotJointPosition > Mathf.PI)
{
while (position - robotJointPosition > Mathf.PI)
{
position -= 2 * Mathf.PI;
}
}
else if (position - robotJointPosition < -Mathf.PI)
{
while (position - robotJointPosition < -Mathf.PI)
{
position += 2 * Mathf.PI;
}
}
position += _robotJoint.offset * Mathf.Deg2Rad;
}
velocity = urdfJoint.GetVelocity();
effort = urdfJoint.GetEffort();
}
public void Read(out string name, out float position, out float velocity, out float effort)
{
name = urdfJoint.JointName;
if (_robot_joint.getJointType() == "prismatic")
{
position = urdfJoint.GetPosition() + _robot_joint.offset;
}
else
{
position = urdfJoint.GetPosition() + _robot_joint.offset * Mathf.Deg2Rad;
}
velocity = urdfJoint.GetVelocity();
effort = urdfJoint.GetEffort();
}
public void Read(out string name, out float position, out float velocity, out float effort)
{
name = urdfJoint.JointName;
position = urdfJoint.GetPosition();
velocity = urdfJoint.GetVelocity();
// Only ask for command effort from ROS if JointCommandWriter is an attached component and if it is currently writer commands
if (haveCommandWriter && jointCommandWriter.isWritingCommands)
{
effort = urdfJoint.GetCmdEffort();
}
else
{
effort = urdfJoint.GetEffort();
}
}
public void GetPositionVelocityEffort_Succeeds()
{
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
UrdfJoint joint = UrdfJointPrismatic.Create(linkObject);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
articulationBody.jointPosition = new ArticulationReducedSpace(1, 2, 3);
articulationBody.jointVelocity = new ArticulationReducedSpace(4, 5, 6);
articulationBody.jointForce = new ArticulationReducedSpace(7, 8, 9);
Assert.AreEqual(1, joint.GetPosition());
Assert.AreEqual(4, joint.GetVelocity());
Assert.AreEqual(7, joint.GetEffort());
Object.DestroyImmediate(baseObject);
}
