Python TaskDynPassingPoint示例

示例#1

文件： meta_task_dyn_passing_point.py 项目： elie-moussy/sot-dyninv

class MetaTaskDynPassingPoint(MetaTask6d):
    def createTask(self):
        self.task = TaskDynPassingPoint('task'+self.name)
        self.task.dt.value = 1e-3
    def createGain(self):
        pass
    def plugEverything(self):
        self.feature.setReference(self.featureDes.name)
        plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
        plug(self.dyn.signal('J'+self.opPoint), self.feature.signal('Jq'))
        self.task.add(self.feature.name)
        plug(self.dyn.velocity, self.task.qdot)
        ''' Dummy initialization '''
        self.task.duration.value = 1
        self.task.velocityDes.value = (0,0,0,0,0,0)
        self.task.initialTime.value = 0
        #self.task.currentTime.value = 0
    
    def __init__(self,*args):
        MetaTask6d.__init__(self,*args)

示例#2

文件： meta_task_dyn_passing_point.py 项目： nim65s/sot-dyninv

class MetaTaskDynPassingPoint(MetaTask6d):
    def createTask(self):
        self.task = TaskDynPassingPoint('task' + self.name)
        self.task.dt.value = 1e-3

    def createGain(self):
        pass

    def plugEverything(self):
        self.feature.setReference(self.featureDes.name)
        plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
        plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
        self.task.add(self.feature.name)
        plug(self.dyn.velocity, self.task.qdot)
        ''' Dummy initialization '''
        self.task.duration.value = 1
        self.task.velocityDes.value = (0, 0, 0, 0, 0, 0)
        self.task.initialTime.value = 0
        #self.task.currentTime.value = 0

    def __init__(self, *args):
        MetaTask6d.__init__(self, *args)

示例#3

文件： meta_task_dyn_passing_point.py 项目： nim65s/sot-dyninv

 def createTask(self):
     self.task = TaskDynPassingPoint('task' + self.name)
     self.task.dt.value = 1e-3

示例#4

文件： meta_task_dyn_passing_point.py 项目： elie-moussy/sot-dyninv

 def createTask(self):
     self.task = TaskDynPassingPoint('task'+self.name)
     self.task.dt.value = 1e-3