calculatePos controller current_pos destroy environment_file getJointValues getTravelledDistance reset sendJointValues setProperty SimulatedModularRobotInterface simulation start start_pos step_ms step_s stop

void hormodular::SimulatedModularRobotInterface::calculatePos ( ) [private] Gets robot position and stores it on the current_pos variable. { //-- Get current robot position OpenRAVE::Vector robot_pos = simulation->getRobot(0)->GetCenterOfMass(); //-- Update current position stored: current_pos = std::pair<float, float>( robot_pos.x, robot_pos.y ); }