From 2a8cb438c339aeb5af8a5fba09c13cbbe9ffc314 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Mon, 29 Apr 2024 21:43:08 +0200
Subject: [PATCH] Test
---
.../NJointHolonomicPlatformVelocityControllerWithRamp.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index e1a97611e..c2c229c9a 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -137,7 +137,7 @@ namespace armarx
float posFactor = posDelta.norm() / maxPositionAcceleration / dt;
factor = std::max(factor, posFactor);
- float oriFactor = std::abs(delta(3)) / maxOrientationAcceleration / dt;
+ float oriFactor = std::abs(delta(2)) / maxOrientationAcceleration / dt;
factor = std::max(factor, oriFactor);
state += delta / factor;
--
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