From 7cd7b5616244ff80b7210cfbd8926b9f4978b3a9 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 21:15:59 +0200
Subject: [PATCH] test
---
...omicPlatformVelocityControllerWithRamp.cpp | 42 +++++++++----------
1 file changed, 21 insertions(+), 21 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index 80b581c14..e7205be05 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -73,29 +73,29 @@ namespace armarx
const IceUtil::Time& sensorValuesTimestamp,
const IceUtil::Time& timeSinceLastIteration)
{
- auto commandAge = sensorValuesTimestamp - rtGetControlStruct().commandTimestamp;
+ // auto commandAge = sensorValuesTimestamp - rtGetControlStruct().commandTimestamp;
- if (commandAge > maxCommandDelay && // command must be recent
- (rtGetControlStruct().velocityX != 0.0f || rtGetControlStruct().velocityY != 0.0f ||
- rtGetControlStruct().velocityRotation !=
- 0.0f)) // only throw error if any command is not zero
- {
- throw LocalException(
- "Platform target velocity was not set for a too long time: delay: ")
- << commandAge.toSecondsDouble()
- << " s, max allowed delay: " << maxCommandDelay.toSecondsDouble() << " s";
- }
- else
- {
- Eigen::VectorXf x(6);
- x << rtGetControlStruct().velocityX, rtGetControlStruct().velocityY, 0, 0, 0,
- rtGetControlStruct().velocityRotation;
+ // if (commandAge > maxCommandDelay && // command must be recent
+ // (rtGetControlStruct().velocityX != 0.0f || rtGetControlStruct().velocityY != 0.0f ||
+ // rtGetControlStruct().velocityRotation !=
+ // 0.0f)) // only throw error if any command is not zero
+ // {
+ // throw LocalException(
+ // "Platform target velocity was not set for a too long time: delay: ")
+ // << commandAge.toSecondsDouble()
+ // << " s, max allowed delay: " << maxCommandDelay.toSecondsDouble() << " s";
+ // }
+ // else
+ // {
+ Eigen::VectorXf x(6);
+ x << rtGetControlStruct().velocityX, rtGetControlStruct().velocityY, 0, 0, 0,
+ rtGetControlStruct().velocityRotation;
- Eigen::VectorXf result = ramp.update(x, timeSinceLastIteration.toSecondsDouble());
- target->velocityX = result(0);
- target->velocityY = result(1);
- target->velocityRotation = result(5);
- }
+ Eigen::VectorXf result = ramp.update(x, timeSinceLastIteration.toSecondsDouble());
+ target->velocityX = result(0);
+ target->velocityY = result(1);
+ target->velocityRotation = result(5);
+ // }
}
void
--
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