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Endert0m
2026-06-08 11:31:21 +02:00
parent 945a85cacf
commit 10d7c806ec
71 changed files with 94 additions and 16546 deletions
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CMakeLists.txt
+1 -1
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@@ -53,7 +53,7 @@ target_compile_options(common INTERFACE
set(METHODS_PATH "./src/*/methods/*.cpp")
set(VERSION "V5")
set(VERSION "V6")
file(GLOB_RECURSE METHODS_SRC "${METHODS_PATH}")
add_executable(main${VERSION} ./src/testMain.cpp ${METHODS_SRC} )
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File diff suppressed because it is too large Load Diff
build/.cmake/api/v1/reply/codemodel-v2-1d54dc62b65d9b1e65df.json
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"id" : "GNU",
"implicit" :
{
"includeDirectories" :
[
"/usr/include/c++/15",
"/usr/include/x86_64-linux-gnu/c++/15",
"/usr/include/c++/15/backward",
"/usr/lib/gcc/x86_64-linux-gnu/15/include",
"/usr/local/include",
"/usr/include/x86_64-linux-gnu",
"/usr/include"
],
"linkDirectories" :
[
"/usr/lib/gcc/x86_64-linux-gnu/15",
"/usr/lib/x86_64-linux-gnu",
"/usr/lib",
"/lib/x86_64-linux-gnu",
"/lib"
],
"linkFrameworkDirectories" : [],
"linkLibraries" :
[
"stdc++",
"m",
"gcc_s",
"gcc",
"c",
"gcc_s",
"gcc"
]
},
"path" : "/usr/bin/c++",
"version" : "15.2.0"
},
"language" : "CXX",
"sourceFileExtensions" :
[
"C",
"M",
"c++",
"cc",
"cpp",
"cxx",
"m",
"mm",
"mpp",
"CPP",
"ixx",
"cppm",
"ccm",
"cxxm",
"c++m"
]
}
],
"version" :
{
"major" : 1,
"minor" : 0
}
}
build/bin/imgui.ini
+3 -3
View File
@@ -23,8 +23,8 @@ Pos=68,96
Size=740,472
[Window][Set data position]
Pos=0,589
Size=780,30
Pos=0,563
Size=800,30
[Window][Dear ImGui Demo/ResizableChild_478B81A3]
IsChild=1
@@ -39,6 +39,6 @@ Pos=60,60
Size=353,1005
[Window][Set visualization plane]
Pos=380,0
Pos=400,0
Size=400,30
build/bin/mainV6.exe
BIN
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Binary file not shown.
src/collections/headers/collection_interface.hpp
+20
View File
@@ -0,0 +1,20 @@
#include "../../pieces/headers/piece_interface.hpp"
#include "../../joints/headers/joint_interface.hpp"
#ifndef COLL_INTERFACE_H
#define COLL_INTERFACE_H
struct collection{
std::vector<PieceInterface*> pieces;
std::vector<JointInterface*> joints;
};
class CollectionInterface{
public:
virtual collection create(ReferencePlane plane) = 0;
virtual ~CollectionInterface(){};
};
#endif
src/collections/headers/gamba.hpp
+22
View File
@@ -0,0 +1,22 @@
#include "collection_interface.hpp"
#include "../../csv/headers/csv.hpp"
#include "../../pieces/headers/caviglia.hpp"
#include "../../pieces/headers/coscia.hpp"
#include "../../pieces/headers/sensore.hpp"
#include "../../joints/headers/rigid_joint.hpp"
#include "../../joints/headers/pivot_joint.hpp"
#ifndef GAMBA_H
#define GAMBA_H
class Gamba : public CollectionInterface {
protected:
std::vector<PieceInterface*> sensori;
std::vector<PieceInterface*> pezzi;
std::vector<JointInterface*> joints;
public:
Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData);
collection create(ReferencePlane plane) override;
};
#endif
src/collections/methods/gamba.cpp
+46
View File
@@ -0,0 +1,46 @@
#include "../headers/gamba.hpp"
Gamba::Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData){
CSVProcessor processor;
try {
processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
const auto& coscia = processor.getData();
processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
const auto& caviglia = processor.getData();
pezzi.push_back(new Coscia(pos,2));
pezzi.push_back(new Caviglia(rb::Vector3{pos[0],pos[1],pos[3]+200},2));
sensori.push_back(new Sensore(pos,_Float16( 0.2 ),dataPos,coscia));
sensori.push_back(new Sensore (rb::Vector3{pos[0],pos[1],pos[3]+200},_Float16( 0.2 ),dataPos,caviglia));
// modifico la rotazione relativa della gamba
sensori[0]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
sensori[1]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
joints.push_back(new RigidJoint(sensori[0], {pezzi[0]}));
joints.push_back(new PivotJoint(sensori[0], {sensori[1]}, rb::Vector3{0,0,100}));
joints.push_back(new RigidJoint(sensori[1], {pezzi[1]}));
}
catch(char* e){
throw sprintf("Gamba ERROR : %s\n",e);
}
}
collection Gamba::create(ReferencePlane plane){
collection coll;
for(auto e : pezzi){
coll.pieces.push_back(e);
}
for(auto e : sensori){
coll.pieces.push_back(e);
}
for(auto j : joints){
coll.joints.push_back(j);
}
return coll;
}
src/csv/headers/csv.hpp
+2
View File
@@ -4,6 +4,8 @@
#include <vector>
#include <string>
#define DATA_PATH std::string("./../../data/")
class CSVProcessor {
private:
std::vector<std::string> headers;
src/testMain.cpp
-2
View File
@@ -1,7 +1,5 @@
#include "include.hpp"
#define DATA_PATH std::string("./../../data/")
int main() {
CSVProcessor processor;
try {