From 3975fb3557292e9d275756ec322a2b600e09bcca Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Tue, 26 Jun 2018 11:04:18 +0200
Subject: [PATCH] using shiftTime method now in trajectory controller
---
.../RobotUnit/Units/TrajectoryControllerSubUnit.cpp | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp
index 008b17db9..85ab576ee 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp
@@ -168,7 +168,14 @@ void TrajectoryControllerSubUnit::loadJointTraj(const TrajectoryBasePtr& jointTr
return;
}
- this->jointTraj = this->jointTraj->normalize(0, *this->jointTraj->getTimestamps().rbegin() - *this->jointTraj->getTimestamps().begin());
+ if (this->jointTraj->size() == 0)
+ {
+ ARMARX_ERROR << "Error when loading TrajectoryPlayer: trajectory is empty !!!";
+ return;
+ }
+
+ auto startTime = this->jointTraj->begin()->getTimestamp();
+ this->jointTraj->shiftTime(-startTime);
usedJoints = this->jointTraj->getDimensionNames();
ARMARX_INFO << VAROUT(usedJoints);
--
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