3 #include <SimoxUtility/math/compare/is_equal.h>
4 #include <SimoxUtility/math/convert/mat4f_to_pos.h>
5 #include <SimoxUtility/math/convert/mat4f_to_quat.h>
6 #include <VirtualRobot/MathTools.h>
34 JSMPOutputPtr out = std::dynamic_pointer_cast<JSMPOutput>(output);
38 out->angularVel.setZero(in->angularVel.size());
51 ARMARX_INFO <<
" -- Discrete mode: MP " <<
cfg.name <<
" finished.";
58 for (
int i = 0; i < in->angleRadian.size(); i++)
63 double deltaT = in->deltaT;
65 double timeDuration =
cfg.durationSec;
68 std::vector<mplib::representation::MPState> targetState =
69 std::dynamic_pointer_cast<mplib::representation::vmp::PrincipalComponentVMP>(
vmp)
73 for (
int i = 0; i < in->angleRadian.size(); i++)
75 out->angleRadian(i) = targetState[i].pos;
76 out->angularVel(i) = targetState[i].vel;