Revision 87b50988 src/server/reflexxes_motion_generator.cpp

View differences:

src/server/reflexxes_motion_generator.cpp
83 83 
    printf("HTS: diff = %f ms, pos=%f --> %f\n", time_diff*1000.0,current_position, position_now);
84 84 

  		




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    reflexxes_position_input->CurrentPositionVector->VecData[dof]  = 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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    // safety: libreflexxes does not like zero accellerations...


  		




  ......




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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->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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    }


  		












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