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[WIP] [fetch] add interpolation in :angle-vector-raw #841

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[WIP] [fetch] add interpolation in :angle-vector-raw #841

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e4c4ce9
add interpolation in :angle-vector-raw
708yamaguchi Sep 28, 2017
3f0863e
change variable name
708yamaguchi Sep 28, 2017
31fcec1
remove unused variable
708yamaguchi Sep 28, 2017
d19fde1
do not use variable 'divide' -> 10 (constant)
708yamaguchi Sep 28, 2017
2baf8fb
use 'append' instead of 'cons'
708yamaguchi Sep 28, 2017
9d7a737
update (*ri* . robot) at the end of :angle-vector-raw
708yamaguchi Sep 29, 2017
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12 changes: 11 additions & 1 deletion jsk_fetch_robot/fetcheus/fetch-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,17 @@
(:state (&rest args)
":state calls with :wait-until-update by default, since Fetch publishes /joint_states from body and gripper at almost same frequency"
(send-super* :state (if (member :wait-until-update args) args (append args (list :wait-until-update t)))))
(:angle-vector-raw (&rest args) (send-super* :angle-vector args))
(:angle-vector-raw (av &optional (tm 3000) &rest args)
(let (avs (minjerk (instance minjerk-interpolator :init)))
(send minjerk :reset
:position-list (list (send self :state :potentio-vector :wait-until-update t) av)
:time-list (list tm))
(send minjerk :start-interpolation)
(send minjerk :pass-time (/ tm 10))
(dotimes (i 10)
(setq avs (append avs (list (send minjerk :pass-time (/ tm 10))))))
(send* self :angle-vector-sequence-raw avs (make-list 10 :initial-element (/ tm 10)) args)
(send robot :angle-vector (car (last avs)))))
(:angle-vector-sequence-raw (&rest args) (send-super* :angle-vector-sequence args))
(:angle-vector
(av &optional (tm 3000) &rest args) ;; (ctype controller-type) (start-time 0) &rest args
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