Hi all!
I have a big robot with a lot of joints. I want to write prog for autotuning PID parameters for each joint.
To do it I need to consequently fix all joints except one from C++ plugin.
How can I fix (stop) my joints using API? I use gazebo8.
I try to do it in such way but it has no affect:
for(int i=1;iGetJointCount();++i)
{
joint[i] =_model->GetJoints()[i];
gazebo::physics::Entity::EntityType type_fixed = gazebo::physics::Entity::FIXED_JOINT;
joint[i]->AddType(type_fixed);
joint[i]->Update();
}
↧
