Revision 1a35abea

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examples/yarp_icub/src/icub_jointinterface.cpp
62 62 

  		




  63
  63
  
    
    //init pd control variables


  		




  64
  64
  
    
    enum_id_bimap_t::const_iterator it;


  		




  
  65
  
    
    last_position_error.resize(ICUB_JOINT_ID_ENUM_SIZE);


  		




  
  66
  
    
    PID_P.resize(ICUB_JOINT_ID_ENUM_SIZE);


  		




  
  67
  
    
    PID_D.resize(ICUB_JOINT_ID_ENUM_SIZE);


  		




  
  68
  
    

  		




  65
  69
  
    
    for(it = enum_id_bimap.begin(); it != enum_id_bimap.end(); ++it) {


  		




  66
  70
  
    
        int id = it->left;


  		




  67
  71
  
    
        last_position_error[id] = 0.0;


  		












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