An example showing how to generate a Cartesian motion.
#include <cmath>
#include <iostream>
int main(int argc, char** argv) {
if (argc != 2) {
std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
return -1;
}
try {
std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
std::cout << "Finished moving to initial joint configuration." << std::endl;
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
{{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
std::array<double, 16> initial_pose;
double time = 0.0;
if (time == 0.0) {
}
constexpr double kRadius = 0.3;
double angle = M_PI / 4 * (1 - std::cos(M_PI / 5.0 * time));
double delta_x = kRadius * std::sin(angle);
double delta_z = kRadius * (std::cos(angle) - 1);
std::array<double, 16> new_pose = initial_pose;
new_pose[12] += delta_x;
new_pose[14] += delta_z;
if (time >= 10.0) {
std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
}
return new_pose;
});
std::cout << e.what() << std::endl;
return -1;
}
return 0;
}