[JdeRobot] quadrotorplugin help

[Roberto Calvo]

Hi Satyaki,

You have this class that implements the ICE interface

class CMDVelI: virtual public jderobot::CMDVel 

The setCMDVelData method of this class is called when you use the ICE
interface, and set the velocity using qp->setVelocityCommand(vel). This
method update the velocity_command_ variable that it's used to update
the velocity in QuadrotorPlugin::OnUpdate() method.

Let me know if you get it.

Best,

El mar, 26-05-2015 a las 23:55 +0530, Satyaki Chakraborty escribió:
> Hello all,
> 
> 
> I was going through the quadrotorplugin.cc[1] file. I failed to
> understand how the velocity of the ArDrone will be updated if I use a
> CMDVel proxy from an ICE client to set the linear velocities of the
> quadrotor.
> Shouldn't there be something like "this->model->SetLinearVel(...)"
> statement in the "onUpdate()" method of the plugin or is the
> velocities and other state parameters getting updated some other way?
> If I am missing something, please let me know. :)
> 
> 
> 
> 
> Thanks,
> Satyaki
> 
> 
> [1]https://github.com/RoboticsURJC/JdeRobot/blob/master/src/stable/components/gazeboserver/plugins/quadrotor/quadrotorplugin.cc
> 
> 
> ᐧ

-- 
Roberto Calvo Palomino        | Robotics Lab (GSyC) 
R&D Android Mobile Engineer   | Universidad Rey Juan Carlos

Twitter: @rocapal 
Linkedin: http://www.linkedin.com/in/rocapal