Revision: 8362
http://playerstage.svn.sourceforge.net/playerstage/?rev=8362&view=rev
Author: natepak
Date: 2009-11-03 22:07:22 +0000 (Tue, 03 Nov 2009)
Log Message:
-----------
Added SetForce to joints and fixed the jointforce controller
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/opaque/jointforce/JointForce.cc
code/gazebo/trunk/server/physics/Joint.hh
Modified: code/gazebo/trunk/server/controllers/opaque/jointforce/JointForce.cc
===================================================================
--- code/gazebo/trunk/server/controllers/opaque/jointforce/JointForce.cc
2009-11-03 19:54:15 UTC (rev 8361)
+++ code/gazebo/trunk/server/controllers/opaque/jointforce/JointForce.cc
2009-11-03 22:07:22 UTC (rev 8362)
@@ -104,21 +104,41 @@
bt1 = this->joints[i]->GetBodyTorque(0);
bt2 = this->joints[i]->GetBodyTorque(1);
- *(ptr++) = bf1.x;
- *(ptr++) = bf1.y;
- *(ptr++) = bf1.z;
+ *ptr = bf1.x;
+ ptr += sizeof(double);
- *(ptr++) = bt1.x;
- *(ptr++) = bt1.y;
- *(ptr++) = bt1.z;
+ *ptr = bf1.y;
+ ptr += sizeof(double);
- *(ptr++) = bf2.x;
- *(ptr++) = bf2.y;
- *(ptr++) = bf2.z;
+ *ptr = bf1.z;
+ ptr += sizeof(double);
- *(ptr++) = bt2.x;
- *(ptr++) = bt2.y;
- *(ptr++) = bt2.z;
+ *ptr++ = bt1.x;
+ ptr += sizeof(double);
+
+ *ptr++ = bt1.y;
+ ptr += sizeof(double);
+
+ *ptr++ = bt1.z;
+ ptr += sizeof(double);
+
+ *ptr = bf2.x;
+ ptr += sizeof(double);
+
+ *ptr = bf2.y;
+ ptr += sizeof(double);
+
+ *ptr = bf2.z;
+ ptr += sizeof(double);
+
+ *ptr = bt2.x;
+ ptr += sizeof(double);
+
+ *ptr = bt2.y;
+ ptr += sizeof(double);
+
+ *ptr = bt2.z;
+ ptr += sizeof(double);
}
this->myIface->Unlock();
Modified: code/gazebo/trunk/server/physics/Joint.hh
===================================================================
--- code/gazebo/trunk/server/physics/Joint.hh 2009-11-03 19:54:15 UTC (rev
8361)
+++ code/gazebo/trunk/server/physics/Joint.hh 2009-11-03 22:07:22 UTC (rev
8362)
@@ -120,6 +120,12 @@
/// \brief Get the rotation rate of an axis(index)
public: virtual double GetVelocity(int index) const = 0;
+
+ /// \brief Set the force applied to an axis
+ public: virtual void SetForce(int index, double f) {}
+
+ /// \brief Get the force applied to an axis
+ public: virtual double GetForce(int index) {return 0;}
/// \brief Set the max allowed force of an axis(index).
public: virtual void SetMaxForce(int index, double t) = 0;
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