Hello, I'm not really following what you are asking.
By "c++ program", I'm assuming you mean you own control code that is external to gazebo. A controller is only accessible via libgazebo or player interfaces. You're external control code should not try to directly access a controller. All that a controller does is act as a middleman between sensors and actuators, and libgazebo. Controllers basically filter data to fit interfaces and sensors/actuators. So, if you have some program that should access an actarray, it should communicate with the libgazebo actarray interface. Hope that helps. -nate On Fri, Oct 17, 2008 at 3:47 PM, MML <[EMAIL PROTECTED]> wrote: > > Hello again Nate > > I have looked into the examples you told me about, but I still have a > problem... I cant figure out the call from my c++ program to load any > controller... let me elaberate. > I undestand that a controller has to be made in the model file and that this > controller can be accessed from the c++ program... when I looked at the > Bandit_Actarray.hh the constructor - Bandit_Actarray(Entity *parent ); - > takes an input and i cant figure out what I should put here.. I imagine I > have to specify the name of the controller or model that I want my c program > to control... (I have tried a lot of crazy ideas...) > If you (or anybody else) have an example of calling any function that > requires the (Entity *parent) as input, and the corresponding > model/controller name in the model or world file I would be very thankfull. > - it doesnt have to be to the bandit_actarray, as the same input is required > for all controllers if I am not mistaken. > > I am using eclipse as my environment... please dont tell me i should just > leave the input as "(Entity *parent)", and i have made an error in the setup > of my compiler.. > > Kindly > Morten > > > MML wrote: >> >> Hi Nate >> >> Great!!! >> >> just was I was looking for. >> >> >> Nate Koenig-4 wrote: >>> >>> Hello, >>> >>> In order to control a custom model, you need to write a controller >>> class. There are examples in gazebo/server/controllers. I would >>> recommend looking at gazebo/server/controllers/actarray/bandit. This >>> controller implements joint control of a humanoid robot. >>> >>> Then take a look at worlds/models/banit.model to see how the >>> controller is specified in the model. >>> >>> >>> -nate >>> >> >> > > > ----- > Morten > -- > View this message in context: > http://www.nabble.com/direct-Torque-control-from-c%2B%2B---tp19838798p20042194.html > Sent from the playerstage-gazebo mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------- > This SF.Net email is sponsored by the Moblin Your Move Developer's challenge > Build the coolest Linux based applications with Moblin SDK & win great prizes > Grand prize is a trip for two to an Open Source event anywhere in the world > http://moblin-contest.org/redirect.php?banner_id=100&url=/ > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Playerstage-gazebo mailing list Playerstage-gazebo@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
