Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Included a position-based controller. Also prettied up printing

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-25 09:57:33 +02:00
parent a15fcc695c
commit 5c785af6c4
14 changed files with 299 additions and 242 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
include/ur_modern_driver/ur_driver.h
View File

@@ -16,6 +16,7 @@
#include <condition_variable>
#include "ur_realtime_communication.h"
#include "ur_communication.h"
#include "do_output.h"
#include <vector>
#include <math.h>
#include <string>
@@ -65,7 +66,7 @@ public:
void uploadProg();
void openServo();
void closeServo();
void closeServo(std::vector<double> positions);
std::vector<double> interp_cubic(double t, double T,
std::vector<double> p0_pos, std::vector<double> p1_pos,