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JastAdd
ros2rag
Commits
0fa7f92a
Commit
0fa7f92a
authored
Jul 01, 2020
by
René Schöne
Browse files
Update safetyzone model.
- also make definitions less verbose again - resolves
#28
parent
06a3ec6c
Pipeline
#7114
passed with stages
in 6 minutes and 3 seconds
Changes
4
Pipelines
1
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ros2rag.starter/src/main/jastadd/Computation.jrag
View file @
0fa7f92a
...
...
@@ -14,13 +14,7 @@ aspect Computation {
System.out.println("isInSafetyZone(" + pos + ")");
for (Zone sz : getSafetyZoneList()) {
for (Coordinate coordinate : sz.getCoordinateList()) {
IntPosition inside = coordinate.getPosition();
if (inside.getX() <= pos.getX() &&
inside.getY() <= pos.getY() &&
inside.getZ() <= pos.getZ() &&
pos.getX() <= inside.getX() + getSize().getX() &&
pos.getY() <= inside.getY() + getSize().getY() &&
pos.getZ() <= inside.getZ() + getSize().getZ()) {
if (coordinate.getPosition().equals(pos)) {
return true;
}
}
...
...
ros2rag.starter/src/main/jastadd/Definitions.ros2rag
View file @
0fa7f92a
...
...
@@ -10,23 +10,23 @@ RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
// --- mapping definitions ---
ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:
System.out.println("ParseLinkState");
//
System.out.println("ParseLinkState");
return panda.Linkstate.PandaLinkState.parseFrom(bytes);
:}
SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
System.out.println("SerializeRobotConfig");
//
System.out.println("SerializeRobotConfig");
return rc.toByteArray();
:}
LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
System.out.println("LinkStateToIntPosition");
//
System.out.println("LinkStateToIntPosition");
panda.Linkstate.PandaLinkState.Position p = pls.getPos();
return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 + 0.5)));
:}
CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
System.out.println("CreateSpeedMessage");
//
System.out.println("CreateSpeedMessage");
return config.Robotconfig.RobotConfig.newBuilder()
.setSpeed(speed)
.setLoopTrajectory(true)
...
...
ros2rag.starter/src/main/jastadd/RobotModel.relast
View file @
0fa7f92a
Model ::= RobotArm ZoneModel ;
ZoneModel ::=
<Size:IntPosition>
SafetyZone:Zone* ;
ZoneModel ::= SafetyZone:Zone* ;
Zone ::= Coordinate* ;
...
...
ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
View file @
0fa7f92a
...
...
@@ -42,7 +42,6 @@ public class StarterMain {
model
.
MqttSetHost
(
config
.
mqttHost
);
ZoneModel
zoneModel
=
new
ZoneModel
();
zoneModel
.
setSize
(
makePosition
(
1
,
1
,
1
));
Zone
safetyZone
=
new
Zone
();
for
(
int
[]
coordinate
:
safetyZoneCoordinates
)
{
...
...
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