Revision 61573708 src/server/reflexxes_motion_generator.cpp

View differences:

src/server/reflexxes_motion_generator.cpp
84 84 

  		




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


  		




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


  		




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


  		




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


  		




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


  		




  ......




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    //feed back values:


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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    }


  		




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}


  		












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