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Hi I am trying to make a plugin in gazebo to control a 1 joint urdf model. I am able to give it tourque by this command -
this->only_joint_->SetForce(0,(-10*(this->only_joint_->GetAngle(0)));
but if i try giving a different command like-
this->only_joint_->SetForce(0,(-3*this->only_joint_->GetVelocity(0)+10*(this->only_joint_->GetAngle(0)));
it isn't willing to compile. any idea?
Thanks Nachum
O.k I just put it in 2 different lines and it works nicely.
this->only_joint_->SetForce(0,-2*this->only_joint_->GetAngle(0).GetAsRadian());
this->only_joint_->SetForce(0,-2*this->only_joint_->GetVelocity(0));
Asked: 2012-10-17 21:26:19 -0500
Seen: 381 times
Last updated: Oct 18 '12
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For questions like this, it is very helpful if you add the actual error message you encounter. (You can edit your post to do that)
GetAngle(0) returns a gazebo::math::Angle object, you need to invoke the GetAngle().GetAsRadian() member function as you did in your own answer below.