Implement ABS_ACCELERATION

s-nakaoka / choreonoid

An integrated graphical robotics application framework

http://choreonoid.org

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Implement ABS_ACCELERATION #216

Closed arntanguy closed 4 years ago

arntanguy commented 5 years ago

I needed to access the robot's floating base acceleration (linear and angular) from the simulation. Seems like ABS_ACCELERATIONwas not defined, here is a working implementation. Is this the proper way to achieve this?

I then use it as follow

out-port = waistAbsAcceleration:WAIST:ABS_ACCELERATION

And connect the correcponding port to my component.

s-nakaoka commented 4 years ago

Sorry for the late merge.