Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.

Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

readMotion/readMotion.cpp@23:0927e605af4b, 2013-11-22 (annotated)

Committer:
syundo0730
Date:
Fri Nov 22 00:30:42 2013 +0000
Revision:
23:0927e605af4b
Parent:
20:abb7852df747 
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 19:c2ec475367aa 1 #include "readMotion.h"
syundo0730 19:c2ec475367aa 2
syundo0730 19:c2ec475367aa 3 using namespace std;
syundo0730 19:c2ec475367aa 4
syundo0730 19:c2ec475367aa 5 bool readMotion(string filename, uint16_t* pos, int &servo_size, int &motion_size, int* pose_size) {
syundo0730 19:c2ec475367aa 6 fstream file;
syundo0730 19:c2ec475367aa 7 string line, tmp;
syundo0730 19:c2ec475367aa 8 stringstream sstr;
syundo0730 19:c2ec475367aa 9
syundo0730 19:c2ec475367aa 10 file.open(filename.c_str(), ios::in);
syundo0730 19:c2ec475367aa 11 if(! file.is_open()) {
syundo0730 19:c2ec475367aa 12 return false;
syundo0730 19:c2ec475367aa 13 }
syundo0730 19:c2ec475367aa 14
syundo0730 19:c2ec475367aa 15 int i = 0, id = 0;
syundo0730 19:c2ec475367aa 16 while(getline(file, line)) {
syundo0730 19:c2ec475367aa 17
syundo0730 19:c2ec475367aa 18 std::replace(line.begin(), line.end(), ',', ' ');
syundo0730 19:c2ec475367aa 19 sstr.clear();
syundo0730 19:c2ec475367aa 20 sstr.str(line);
syundo0730 19:c2ec475367aa 21 while (sstr >> tmp) {
syundo0730 19:c2ec475367aa 22 if (tmp == "d") {
syundo0730 19:c2ec475367aa 23 while (sstr >> pos[i]) ++i;
syundo0730 19:c2ec475367aa 24 } else if (tmp == "servo_size") {
syundo0730 19:c2ec475367aa 25 sstr >> servo_size;
syundo0730 19:c2ec475367aa 26 } else if (tmp == "motion_size") {
syundo0730 19:c2ec475367aa 27 sstr >> motion_size;
syundo0730 19:c2ec475367aa 28 } else if (tmp == "pose_size") {
syundo0730 19:c2ec475367aa 29 sstr >> pose_size[id];
syundo0730 19:c2ec475367aa 30 ++id;
syundo0730 19:c2ec475367aa 31 }
syundo0730 19:c2ec475367aa 32 }
syundo0730 19:c2ec475367aa 33 }
syundo0730 19:c2ec475367aa 34 file.close();
syundo0730 19:c2ec475367aa 35 return true;
syundo0730 19:c2ec475367aa 36 }