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  1. #include <iostream>
  2. #include <Eigen/Core>
  3. using namespace std;
  4.  
  5. Eigen::Matrix4f computeGripperPoseMcKee(const Eigen::Vector3f boxLocation_tool, const Eigen::Vector3f &boxDimensions, const int gripperType, const Eigen::Vector3f &gripperDimensions, const double robotLeftWall, const double trailerWidth)
  6. {
  7. 	const int kWidth = 0;
  8. 	const int kHeight = 1;
  9. 	const int kDepth = 2;
  10.  
  11. 	Eigen::Vector3f grip_ofst = Eigen::Vector3f(0, 0, 0);
  12.  
  13. 	//3:  PR[13:UL/Pick] = PR[13:UL/Pick] - PR[13:UL/Pick]    ;
  14. 	Eigen::Vector3f pickPosition = Eigen::Vector3f(0, 0, 0);
  15.  
  16. 	/*
  17. 	4:  --eg: ;
  18. 	5:  !pick middle when boxW >gripW ;
  19. 	6:  IF (PR[51,2:Box1_Dims_HWDCW] >= R[91:Gripper_Width]), PR[34,2:GRIP_OFST] = (PR[51,2:Box1_Dims_HWDCW] / ( -2 )) ; */
  20.  
  21. 	if(boxDimensions(kWidth) >= gripperDimensions(kWidth))
  22. 		grip_ofst(kWidth) = boxDimensions(kWidth) / ( - 2.0 );
  23.  
  24. 	/*
  25. 	 8:  !align left when boxW <gripW ;
  26. 	 9:  !use percetion top right ;
  27. 	10:  IF ( PR[51,2:Box1_Dims_HWDCW] < R[91:Gripper_Width] AND PR[41,2:Box1_Location] + PR[51,2:Box1_Dims_HWDCW] < R[80:Robot_Left_Wall] + 100 ), PR[34,2:GRIP_OFST] = ( R[91:Gripper_Width] / 2 - PR[51,2:Box1_Dims_HWDCW] + 0 ) ;
  28. 	*/
  29.  
  30. 	if( boxDimensions(kWidth) < gripperDimensions(kWidth) && (boxLocation_tool.y() + boxDimensions(kWidth)) < robotLeftWall + 100)
  31. 		grip_ofst(kWidth) = ((gripperDimensions(kWidth) / 2.0) - boxDimensions(kWidth) + 0);
  32.  
  33. 	/*
  34. 	--eg: ;
  35. 	12:  !align right when boxW <gripW &RW ;
  36. 	13:  !use percetion top right ;
  37. 	14:  IF (PR[51,2:Box1_Dims_HWDCW] < R[91:Gripper_Width] AND PR[41,2:Box1_Location] + PR[51,2:Box1_Dims_HWDCW] <= R[80:Robot_Left_Wall] - R[81:Trailer_Width] + R[91:Gripper_Width]), PR[34,2:GRIP_OFST] = (R[91:Gripper_Width] / ( -2 )) ;
  38. 	*/
  39.  
  40. 	if( boxDimensions(kWidth) < gripperDimensions(kWidth) && (boxLocation_tool.y() + boxDimensions(kWidth) <= robotLeftWall - trailerWidth + gripperDimensions(kWidth) ))
  41. 		grip_ofst(kWidth) = gripperDimensions(kWidth) / - 2.0;
  42.  
  43. 	 /*
  44. 	 15:  --eg: ;
  45. 	 16:  JMP LBL[R[90]] ;
  46.  
  47. 	 17:  --eg: ;
  48. 	 18:  LBL[1:HandType1] ;
  49.      19:  PR[34,1:GRIP_OFST] = R[92:Gripper_Length]    ;
  50.      20:  PR[34,3:GRIP_OFST]= 0    ;
  51.      21:  PR[13,5:UL/Pick] = ( -90 )    ;
  52. 	 */
  53.  
  54. 	 if(gripperType == BoxGripper::GRIPPER_TYPE_1)
  55. 	 {
  56. 		 grip_ofset(
  57. 	 }
  58.  
  59.  
  60. }
  61.  
  62.  
  63. int main() {
  64. 	// your code goes here
  65. 	return 0;
  66. }
Compilation error #stdin compilation error #stdout 0s 0KB
comments (?)
stdin 
Standard input is empty
compilation info 
prog.cpp:2:22: fatal error: Eigen/Core: No such file or directory
 #include <Eigen/Core>
                      ^
compilation terminated.
stdout 
Standard output is empty
https://ideone.com/hEJ3p7
language:
C++ (gcc 8.3)
created:
10 years ago
visibility:
public

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