issue cam2-auto-drone#2 trial_1 rovers eliptic movement on a straight…

… road
ToToSpl · Dec 22, 2021 · 5dc12a5 · 5dc12a5
1 parent 3497b2c
commit 5dc12a5
Showing 1 changed file with 25 additions and 1 deletion.
diff --git a/trial_1_setup/animated_box.cc b/trial_1_setup/animated_box.cc
@@ -34,7 +34,7 @@ namespace gazebo
               // name the animation "test",
               // make it last 10 seconds,
               // and set it on a repeat loop
-              new gazebo::common::PoseAnimation("test", 35, true));
+              new gazebo::common::PoseAnimation("test", 71, true));
 
         gazebo::common::PoseKeyFrame *key;
 
@@ -52,6 +52,30 @@ namespace gazebo
         key->Translation(ignition::math::Vector3d(8, 0, 0.05));
         key->Rotation(ignition::math::Quaterniond(0, 0, 0));
 
+        key = anim->CreateKeyFrame(33.0);
+        key->Translation(ignition::math::Vector3d(9, 0.5, 0.05));
+        key->Rotation(ignition::math::Quaterniond(0, 0, 1.57));
+
+        key = anim->CreateKeyFrame(36.0);
+        key->Translation(ignition::math::Vector3d(8, 1, 0.05));
+        key->Rotation(ignition::math::Quaterniond(0, 0, 3.14));
+
+        key = anim->CreateKeyFrame(45.0);
+        key->Translation(ignition::math::Vector3d(0, 1, 0.05));
+        key->Rotation(ignition::math::Quaterniond(0, 0, 3.14));
+
+        key = anim->CreateKeyFrame(65.0);
+        key->Translation(ignition::math::Vector3d(-8, 1, 0.05));
+        key->Rotation(ignition::math::Quaterniond(0, 0, 3.14));
+
+        key = anim->CreateKeyFrame(68.0);
+        key->Translation(ignition::math::Vector3d(-9, 0.5, 0.05));
+        key->Rotation(ignition::math::Quaterniond(0, 0, 4.71));
+
+        key = anim->CreateKeyFrame(71);
+        key->Translation(ignition::math::Vector3d(-8, 0, 0.05));
+        key->Rotation(ignition::math::Quaterniond(0, 0, 6.28));
+
         // set the animation
         _parent->SetAnimation(anim);
     }