[Ninja][Model][WIP] create another robot model instance to treat the …

…networked structure
sugihara-16 · Jan 4, 2024 · e4e682f · e4e682f
1 parent 8505656
commit e4e682f
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diff --git a/robots/ninja/include/ninja/model/ninja_robot_model.h b/robots/ninja/include/ninja/model/ninja_robot_model.h
@@ -17,5 +17,12 @@ class NinjaRobotModel : public BeetleRobotModel{
                     double epsilon = 10);
   virtual ~NinjaRobotModel() = default;
 
+  void calcCenterOfMoving() override;
+
+private:
+  boost::shared_ptr<aerial_robot_model::transformable::RobotModel> networked_robot_model_;
+
+protected:
+  virtual void updateRobotModelImpl(const KDL::JntArray& joint_positions) override;
 };
 
diff --git a/robots/ninja/src/model/ninja_robot_model.cpp b/robots/ninja/src/model/ninja_robot_model.cpp
@@ -3,6 +3,15 @@
 NinjaRobotModel::NinjaRobotModel(bool init_with_rosparam, bool verbose, double fc_t_min_thre, double epsilon) :
   BeetleRobotModel(init_with_rosparam, verbose, fc_t_min_thre, epsilon)
 {
+  networked_robot_model_ = boost::make_shared<aerial_robot_model::transformable::RobotModel>(); 
+}
+
+void NinjaRobotModel::updateRobotModelImpl(){
+  BeetleRobotModel::updateRobotModelImpl();
+}
+
+void NinjaRobotModel::calcCenterOfMoving(const KDL::JntArray& joint_positions){
+  BeetleRobotModel::calcCenterOfMoving(joint_positions);
 }
 
 /* plugin registration */