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Add the function of change position #248

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Merged
merged 3 commits into from
Jan 19, 2025
Merged

Add the function of change position #248

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2fd47ee
Achieved the function of adjusting the position of image transmission.
321Aurora Dec 20, 2024
7aa1dbe
Merge branch 'rm-controls:master' into imagetransmission
321Aurora Jan 19, 2025
c1d4a8f
Fix the code format problem.
321Aurora Jan 19, 2025
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8 changes: 7 additions & 1 deletion rm_common/include/rm_common/decision/command_sender.h
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Original file line number Diff line number Diff line change
Expand Up @@ -652,6 +652,12 @@ class JointPositionBinaryCommandSender : public CommandSenderBase<std_msgs::Floa
msg_.data = off_pos_;
state = false;
}
void changePosition(double scale)
{
current_position_ = msg_.data;
change_position_ = current_position_ + scale * per_change_position_;
msg_.data = change_position_;
}
bool getState() const
{
return state;
Expand All @@ -664,7 +670,7 @@ class JointPositionBinaryCommandSender : public CommandSenderBase<std_msgs::Floa

private:
bool state{};
double on_pos_{}, off_pos_{};
double on_pos_{}, off_pos_{}, current_position_{}, change_position_{}, per_change_position_{ 0.05 };
};

class CardCommandSender : public CommandSenderBase<std_msgs::Float64>
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