From 9d8defd62af0f1cf2723b63f41ab3d1a6721e6c1 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 22:40:39 +0200
Subject: [PATCH] asd
---
...nomicPlatformVelocityControllerWithRamp.cpp | 18 ++++++++++++++----
.../RobotUnitModules/RobotUnitModuleUnits.cpp | 6 ++++--
2 files changed, 18 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index 92ee52c43..2d06696ea 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -92,10 +92,20 @@ namespace armarx
rtGetControlStruct().velocityY,
rtGetControlStruct().velocityRotation);
- Eigen::VectorXf result = ramp.update(x, timeSinceLastIteration.toSecondsDouble());
- target->velocityX = result(0);
- target->velocityY = result(1);
- target->velocityRotation = result(2);
+ if (x == Eigen::Vector3f::Zero())
+ {
+ target->velocityX = 0;
+ target->velocityY = 0;
+ target->velocityRotation = 0;
+ }
+ else
+ {
+
+ Eigen::VectorXf result = ramp.update(x, timeSinceLastIteration.toSecondsDouble());
+ target->velocityX = result(0);
+ target->velocityY = result(1);
+ target->velocityRotation = result(2);
+ }
}
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
index 80c426cc9..34168e9a2 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
@@ -502,8 +502,10 @@ namespace armarx::RobotUnitModule
}
else
{
- ARMARX_ERROR << "Invalid Platform velocity controller specified "
- << ""; //platformControllerType;
+ ARMARX_ERROR << "Invalid Platform velocity controller specified '"
+ << NJointHolonomicPlatformVelocityControllerTypesNames.to_name(
+ platformControllerType)
+ << "'";
}
NJointHolonomicPlatformRelativePositionControllerConfigPtr configRelativePositionCtrlCfg =
--
GitLab