Hi again, the void you get can be cast to the dJointFeedback struct of ODE. See
http://opende.sourceforge.net/wiki/index.php/Manual_(Joint_Types_and_Functions)#Miscellaneous_Joint_Functions for more information. You'll have to include <ode/ode.h> for this. The fourth element of the vector is for optimization (4 doubles fit more nicely into memory than 3... no, really). The most important lines of code are (sorry for lack of formatting): #include <ode/ode.h> void someFunction() { dJointFeedback *joint_feedbacks; joint_feedbacks = new dJointFeedback[numberOfJoints]; // set up connection to Player server and then... joint_torque_opaque = new PlayerCc::OpaqueProxy(client_object, 0); joint_torque_opaque->GetData((uint8_t*) joint_feedbacks); doSomethingWithForce(joint_feedbacks[0].f1); } And there you go. Happy new year, Ben ------------------------------------------------------------------------------ Check out the new SourceForge.net Marketplace. It is the best place to buy or sell services for just about anything Open Source. http://p.sf.net/sfu/Xq1LFB _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
