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 <span id="projectnumber">3.1.6</span>
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<div id="projectbrief">lebai motion control C interface</div>
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<div class="title">example_urdf_group.cc</div> </div>
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<p>Examples of urdf group usage. group, you can see the source code in <a class="el" href="example_urdf_group_8cc-example.html">example_urdf_group.cc</a></p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "motion_control/lmc_group.h"</span></div><div class="line"><span class="preprocessor">#include <math.h></span></div><div class="line"><span class="preprocessor">#include <iostream></span></div><div class="line"></div><div class="line"><span class="keywordtype">int</span> <a name="a0"></a><a class="code" href="example__urdf__group_8cc.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div><div class="line">{</div><div class="line"> lmc_group_model_t *group_model = lmc_group_model_new();</div><div class="line"> <span class="keywordtype">char</span> filename[] = <span class="stringliteral">"urdf/lm3.urdf"</span>;</div><div class="line"> lmc_group_model_init_from_urdf_file(group_model, filename);</div><div class="line"> </div><div class="line"> lmc_group_joint_info_t joint_info;</div><div class="line"> lmc_group_model_get_joint_info(group_model, &joint_info);</div><div class="line"></div><div class="line"> lmc_group_state_t *group_state = lmc_group_state_new();</div><div class="line"> lmc_group_state_init(group_state, group_model);</div><div class="line"></div><div class="line"> lmc_group_state_collide(group_state, NULL, NULL);</div><div class="line"></div><div class="line"> <span class="keywordtype">double</span> joint_pos[6] = {-11.0 / 180.0 * M_PI, 157.0 / 180.0 * M_PI, -209.0 / 180.0 * M_PI, 88.0 / 180.0 * M_PI, 100.0 / 180.0 * M_PI, -76.0 / 180.0 * M_PI};</div><div class="line"> lmc_group_state_set_jnt_pos(group_state, joint_pos);</div><div class="line"> </div><div class="line"> lmc_group_state_update(group_state, group_model);</div><div class="line"> </div><div class="line"> lmc_group_collide_req_t req;</div><div class="line"> lmc_group_collide_resp_t resp;</div><div class="line"> req.enable_contact = 1;</div><div class="line"> req.num_max_contacts = 2;</div><div class="line"> lmc_group_state_collide(group_state, &req, &resp);</div><div class="line"> <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i < resp.num_contacts; ++i)</div><div class="line"> {</div><div class="line"> std::cout<<<span class="stringliteral">"contact pair: "</span><<resp.contacts[i].link_a<<<span class="stringliteral">" "</span><<resp.contacts[i].link_b<<<span class="stringliteral">"\n"</span>;</div><div class="line"> }</div><div class="line"> <span class="comment">// EXPECT_STREQ("link_6", resp.contacts[0].link_a);</span></div><div class="line"> <span class="comment">// EXPECT_STREQ("link_2", resp.contacts[0].link_b);</span></div><div class="line"> <span class="comment">// EXPECT_STREQ("link_6", resp.contacts[1].link_a);</span></div><div class="line"> <span class="comment">// EXPECT_STREQ("link_2", resp.contacts[1].link_b);</span></div><div class="line"> lmc_group_state_delete(&group_state);</div><div class="line"> lmc_group_model_delete(&group_model);</div><div class="line"> <span class="keywordflow">return</span> 0;</div><div class="line">}</div></div><!-- fragment --> </div><!-- contents -->
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