qlin/sas_robot_driver_franka
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Updated the headers and the cmake.

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This commit is contained in:
Juancho
2023-06-27 14:45:57 +09:00
parent eab4c8a68f
commit c04c20542b
8 changed files with 254 additions and 23 deletions
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41
src/sas_robot_driver_franka.cpp
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@@ -1,3 +1,36 @@
/*
# Copyright (c) 2023 Juan Jose Quiroz Omana
#
# This file is part of sas_robot_driver_franka.
#
# sas_robot_driver_franka is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# sas_robot_driver_franka is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public License
# along with sas_robot_driver. If not, see <https://www.gnu.org/licenses/>.
#
# ################################################################
#
# Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
#
# ################################################################
#
# Contributors:
# 1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
# - Adapted from sas_robot_driver_denso.cpp
# (https://github.com/SmartArmStack/sas_robot_driver_denso/blob/master/src/sas_robot_driver_denso.cpp)
#
# ################################################################
*/
#include "sas_robot_driver_franka.h"
#include "sas_clock/sas_clock.h"
#include <dqrobotics/utils/DQ_Math.h>
@@ -11,10 +44,10 @@ namespace sas
joint_positions_.resize(7);
joint_velocities_.resize(7);
joint_forces_.resize(7);
end_effector_pose_.resize(7);
joint_positions_buffer_.resize(8,0);
end_effector_pose_euler_buffer_.resize(7,0);
end_effector_pose_homogenous_transformation_buffer_.resize(10,0);
//end_effector_pose_.resize(7);
//joint_positions_buffer_.resize(8,0);
//end_effector_pose_euler_buffer_.resize(7,0);
//end_effector_pose_homogenous_transformation_buffer_.resize(10,0);
std::cout<<configuration.ip_address<<std::endl;
RobotInterfaceFranka::MODE mode = RobotInterfaceFranka::MODE::None;