Obbart/universal_robots_ros_driver
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Code cleanup

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This commit is contained in:
Thomas Timm Andersen
2015-10-28 11:27:38 +01:00
parent 839d90c4ab
commit 2e37fb00df
4 changed files with 1 additions and 60 deletions
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5
include/ur_modern_driver/ur_driver.h
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@@ -63,10 +63,7 @@ public:
void setSpeed(double q0, double q1, double q2, double q3, double q4,
double q5, double acc = 100.);
/* void addTraj(
std::vector<double> inp_timestamps, //DEPRECATED
std::vector<std::vector<double> > positions,
std::vector<std::vector<double> > velocities); */
bool doTraj(std::vector<double> inp_timestamps,
std::vector<std::vector<double> > inp_positions,
std::vector<std::vector<double> > inp_velocities);

1
src/ur_communication.cpp
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@@ -155,7 +155,6 @@ void UrCommunication::run() {
while (keepalive_ && !connected_) {
std::this_thread::sleep_for(std::chrono::seconds(10));
fd_set writefds;
keepalive_ = true;
connect(sec_sockfd_, (struct sockaddr *) &sec_serv_addr_,
sizeof(sec_serv_addr_));

54
src/ur_driver.cpp
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@@ -73,61 +73,7 @@ std::vector<double> UrDriver::interp_cubic(double t, double T,
}
return positions;
}
/*
void UrDriver::addTraj(std::vector<double> inp_timestamps,
std::vector<std::vector<double> > inp_positions,
std::vector<std::vector<double> > inp_velocities) {
// DEPRECATED
printf("!! addTraj is deprecated !!\n");
std::vector<double> timestamps;
std::vector<std::vector<double> > positions;
std::string command_string = "def traj():\n";
for (unsigned int i = 1; i < inp_timestamps.size(); i++) {
timestamps.push_back(inp_timestamps[i - 1]);
double dt = inp_timestamps[i] - inp_timestamps[i - 1];
unsigned int steps = (unsigned int) ceil(dt / maximum_time_step_);
double step_size = dt / steps;
for (unsigned int j = 1; j < steps; j++) {
timestamps.push_back(inp_timestamps[i - 1] + step_size * j);
}
}
// //make sure we come to a smooth stop
// while (timestamps.back() < inp_timestamps.back()) {
// timestamps.push_back(timestamps.back() + 0.008);
// }
// timestamps.pop_back();
unsigned int j = 0;
for (unsigned int i = 0; i < timestamps.size(); i++) {
while (inp_timestamps[j] <= timestamps[i]) {
j += 1;
}
positions.push_back(
UrDriver::interp_cubic(timestamps[i] - inp_timestamps[j - 1],
inp_timestamps[j] - inp_timestamps[j - 1],
inp_positions[j - 1], inp_positions[j],
inp_velocities[j - 1], inp_velocities[j]));
}
timestamps.push_back(inp_timestamps[inp_timestamps.size() - 1]);
positions.push_back(inp_positions[inp_positions.size() - 1]);
/// This is actually faster than using a stringstream :-o
for (unsigned int i = 1; i < timestamps.size(); i++) {
char buf[128];
sprintf(buf,
"\tservoj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], t=%1.5f)\n",
positions[i][0], positions[i][1], positions[i][2],
positions[i][3], positions[i][4], positions[i][5],
timestamps[i] - timestamps[i - 1]);
command_string += buf;
}
command_string += "end\n";
//printf("%s", command_string.c_str());
rt_interface_->addCommandToQueue(command_string);
}
*/
bool UrDriver::doTraj(std::vector<double> inp_timestamps,
std::vector<std::vector<double> > inp_positions,
std::vector<std::vector<double> > inp_velocities) {

1
src/ur_realtime_communication.cpp
View File

@@ -156,7 +156,6 @@ void UrRealtimeCommunication::run() {
while (keepalive_ && !connected_) {
std::this_thread::sleep_for(std::chrono::seconds(10));
fd_set writefds;
keepalive_ = true;
connect(sockfd_, (struct sockaddr *) &serv_addr_,
sizeof(serv_addr_));