キックをOFFにせずにドリブラーを止めるAPIを追加 (#534)

ibis-ssl · Aug 18, 2024 · fe6da63 · fe6da63
1 parent 7523a63
commit fe6da63
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/crane_robot_skills/include/crane_robot_skills/kick.hpp b/crane_robot_skills/include/crane_robot_skills/kick.hpp
@@ -57,7 +57,8 @@ class Kick : public SkillBase<RobotCommandWrapperPosition>
         if (getParameter<bool>("with_dribble")) {
           command.dribble(getParameter<double>("dribble_power"));
         } else {
-          command.dribble(0.0);
+          // ドリブラーを止める
+          command.withDribble(0.0);
         }
         // TODO(HansRobo): 終了判定
       } else {

diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/robot_command_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/robot_command_wrapper.hpp
@@ -100,6 +100,13 @@ class RobotCommandWrapperCommon
     return static_cast<T &>(*this);
   }
 
+  // キックをOFFにせずにドリブルパワーを設定する
+  T & withDribble(double power)
+  {
+    command->latest_msg.dribble_power = power;
+    return static_cast<T &>(*this);
+  }
+
   T & setTargetTheta(double theta)
   {
     command->latest_msg.target_theta = theta;