Revision 708960ff src/server/reflexxes_motion_generator.cpp

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src/server/reflexxes_motion_generator.cpp
67 67 
    reflexxes_position_input->MaxAccelerationVector->VecData[dof] = max_accel;
68 68 
    reflexxes_position_input->TargetVelocityVector->VecData[dof]  = 0.0; //target speed is zero (really?)
69 69 

  		




  
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    /*


  		




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    // feed back current pos & velocity


  		




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    // as we have to deal with some latency we will forecast the current


  		




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    // position using the old speed, position and the latency:


  		




  ......




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    // under the assumption that the speed is "constant" during this short period


  		




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    float position_now = current_position + time_diff * current_speed;


  		




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    printf("HTS: diff = %f ms, pos=%f --> %f\n", time_diff*1000.0,current_position, position_now);


  		




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


  		




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


  		




  
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    */


  		




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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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