Revision 1efa78e9 src/server/reflexxes_motion_generator.cpp

View differences:

src/server/reflexxes_motion_generator.cpp
64 64 
    reflexxes_position_input->MaxAccelerationVector->VecData[dof] = max_accel;
65 65 
    reflexxes_position_input->TargetVelocityVector->VecData[dof]  = 0.0; //target speed is zero (really?)
66 66 
    // feed back current pos & velocity
67 
    reflexxes_position_input->CurrentPositionVector->VecData[dof]  = current_position;
68 
    reflexxes_position_input->CurrentVelocityVector->VecData[dof]  = current_speed;
67 
    //reflexxes_position_input->CurrentPositionVector->VecData[dof]  = current_position;
68 
    //reflexxes_position_input->CurrentVelocityVector->VecData[dof]  = current_speed;
69 69 

  		




  70
  70
  
    
    // safety: libreflexxes does not like zero accellerations...


  		




  71
  71
  
    
    if (reflexxes_position_input->MaxAccelerationVector->VecData[dof] == 0.0){


  		




  ......




  89
  89
  
    

  		




  90
  90
  
    
    //feed back values:


  		




  91
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    for(int i=0; i<dof_count; i++){


  		




  92
  
  
    
        //reflexxes_position_input->CurrentPositionVector->VecData[i]     = reflexxes_position_output->NewPositionVector->VecData[i];


  		




  93
  
  
    
        //reflexxes_position_input->CurrentVelocityVector->VecData[i]     = reflexxes_position_output->NewVelocityVector->VecData[i];


  		




  94
  
  
    
        //reflexxes_position_input->CurrentAccelerationVector->VecData[i] = reflexxes_position_output->NewAccelerationVector->VecData[i];


  		




  
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        reflexxes_position_input->CurrentPositionVector->VecData[i]     = reflexxes_position_output->NewPositionVector->VecData[i];


  		




  
  93
  
    
        reflexxes_position_input->CurrentVelocityVector->VecData[i]     = reflexxes_position_output->NewVelocityVector->VecData[i];


  		




  
  94
  
    
        reflexxes_position_input->CurrentAccelerationVector->VecData[i] = reflexxes_position_output->NewAccelerationVector->VecData[i];


  		




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  95
  
    
    }


  		




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  96
  
    
}


  		












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