genserkins Hal-Parameter "unrotate"

haldata = hal_malloc(sizeof(struct haldata));
    if (!haldata)
	goto error;

    for (i = 0; i < GENSER_MAX_JOINTS; i++) {
	if ((res =
		hal_pin_float_newf(HAL_IO, &(haldata->a[i]), comp_id,
		    "genserkins.A-%d", i)) < 0)
	    goto error;
        *(haldata->a[i])=0;
	if ((res =
		hal_pin_float_newf(HAL_IO, &(haldata->alpha[i]), comp_id,
		    "genserkins.ALPHA-%d", i)) < 0)
	    goto error;
        *(haldata->alpha[i])=0;
	if ((res =
		hal_pin_float_newf(HAL_IO, &(haldata->d[i]), comp_id,
		    "genserkins.D-%d", i)) < 0)
	    goto error;
        *(haldata->d[i])=0;
        if ((res =
                hal_param_s32_newf(HAL_RW, &(haldata->unrotate[i]), comp_id,
                    "genserkins.unrotate-%d", i)) < 0)
            goto error;
        haldata->unrotate[i]=0;
    }

On Wed, Jan 12, 2011 at 4:35 PM, Stephen Wille Padnos <spadnos@...>wrote:

> Stuart Stevenson wrote:
> > I have to move the finger and hand axes while the wrist axis moves to be
> > able maintain orientation.
> > I tried this without the multiple subtraction line but was unable to hold
> > the hand orientation while the wrist moved.
> >
> Hmmm, so joints 4 and 5 (starting at 0) both need to have joint 3
> subtracted?  The code I wrote can't do that.  It would be possible to
> make another parameter that tells which joint to unrotate by.  Something
> like base_joint.  This would be a parameter ranging from 0 to (number of
> joints-1).  The code would then be something like:
> if ((unrotate logic) && (base_joint<link_num) && (base_joint!= this_joint))
>
> joints[this_joint].theta-=joints[joints[this_joint].base_joint].theta *
> joints[this_joint].unrotate;
> (or so :) )

> - Steve