Revision 61573708

View differences:

src/server/reflexxes_motion_generator.cpp
84 84 

  		




  85
  85
  
    

  		




  86
  86
  
    
    reflexxes_position_input->CurrentPositionVector->VecData[dof]  = position_now;


  		




  87
  
  
    
    reflexxes_position_input->CurrentVelocityVector->VecData[dof]  = current_speed;


  		




  
  87
  
    
    //reflexxes_position_input->CurrentVelocityVector->VecData[dof]  = current_speed;


  		




  88
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  89
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    // safety: libreflexxes does not like zero accellerations...


  		




  90
  90
  
    
    if (reflexxes_position_input->MaxAccelerationVector->VecData[dof] == 0.0){


  		




  ......




  109
  109
  
    
    //feed back values:


  		




  110
  110
  
    
    for(int i=0; i<dof_count; i++){


  		




  111
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        //reflexxes_position_input->CurrentPositionVector->VecData[i]     = reflexxes_position_output->NewPositionVector->VecData[i];


  		




  112
  
  
    
        //reflexxes_position_input->CurrentVelocityVector->VecData[i]     = reflexxes_position_output->NewVelocityVector->VecData[i];


  		




  113
  
  
    
        //reflexxes_position_input->CurrentAccelerationVector->VecData[i] = reflexxes_position_output->NewAccelerationVector->VecData[i];


  		




  
  112
  
    
        reflexxes_position_input->CurrentVelocityVector->VecData[i]     = reflexxes_position_output->NewVelocityVector->VecData[i];


  		




  
  113
  
    
        reflexxes_position_input->CurrentAccelerationVector->VecData[i] = reflexxes_position_output->NewAccelerationVector->VecData[i];


  		




  114
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    }


  		




  115
  115
  
    
}


  		












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