Revision ade7a207 examples/meka/src/mekajointinterface.cpp

View differences:

examples/meka/src/mekajointinterface.cpp
59 59
            if (id == ID_NECK_PAN){
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                //joint is inverted
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                JointInterface::store_incoming_position(id, -180.0 / M_PI * msg.position[i], timestamp);
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                JointInterface::store_incoming_speed(   id, -180.0 / M_PI * msg.velocity[i], timestamp);
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                JointInterface::store_incoming_velocity(id, -180.0 / M_PI * msg.velocity[i], timestamp);
63 63
            }else if (id == ID_NECK_TILT){
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                JointInterface::store_incoming_position(id, 180.0 / M_PI * msg.position[i], timestamp);
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                JointInterface::store_incoming_speed(   id, 180.0 / M_PI * msg.velocity[i], timestamp);
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                JointInterface::store_incoming_velocity(id, 180.0 / M_PI * msg.velocity[i], timestamp);
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            }
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        }
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    }
......
93 93

  
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void MekaJointInterface::store_dummy_data(int id, double timestamp){
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    JointInterface::store_incoming_position(id, 0.0, timestamp);
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    JointInterface::store_incoming_speed(id, 0.0, timestamp);
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    JointInterface::store_incoming_velocity(id, 0.0, timestamp);
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}
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//! constructor

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