From 4e40e9fb25de5fd3ba4b80cad6de9326381c23c3 Mon Sep 17 00:00:00 2001
From: Armar6 <armar6@h2t.com>
Date: Fri, 14 Sep 2018 13:38:06 +0200
Subject: [PATCH] added valid target check
---
.../DMPController/NJointTaskSpaceImpedanceDMPController.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 643368fb2..77f5f8656 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -239,6 +239,11 @@ namespace armarx
debugOutputData.getWriteBuffer().desired_nullspaceJoint[jointNames[i]] = desiredNullSpaceJointValues(i);
targets.at(i)->torque = desiredTorque;
+ if (!targets.at(i)->isValid())
+ {
+ ARMARX_INFO << deactivateSpam(1) << "Torque controller target is invalid - setting to zero! set value: " << targets.at(i)->torque;
+ targets.at(i)->torque = 0.0f;
+ }
}
debugOutputData.getWriteBuffer().currentCanVal = dmpCtrl->debugData.canVal;
--
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