From b82f9b9436d8bbb1f9edcafd63173664c891a502 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 21:12:36 +0200
Subject: [PATCH] test
---
...JointHolonomicPlatformVelocityControllerInterface.cpp | 2 +-
...NJointHolonomicPlatformVelocityControllerWithRamp.cpp | 9 +++++----
2 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.cpp
index 8ca4311f4..0db22289e 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.cpp
@@ -30,7 +30,7 @@ namespace armarx
{
NJointHolonomicPlatformVelocityControllerInterface::
NJointHolonomicPlatformVelocityControllerInterface() :
- maxCommandDelay(IceUtil::Time::milliSeconds(800))
+ maxCommandDelay(IceUtil::Time::milliSeconds(500))
{
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index 3a31f21bb..80b581c14 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -61,10 +61,11 @@ namespace armarx
state << velX, velY, 0, 0, 0, velRot;
ramp.setState(state, VirtualRobot::IKSolver::CartesianSelection::All);
- getWriterControlStruct().velocityX = velX;
- getWriterControlStruct().velocityY = velY;
- getWriterControlStruct().velocityRotation = velRot;
- writeControlStruct();
+ NJointHolonomicPlatformVelocityControllerControlData data;
+ data.velocityX = velX;
+ data.velocityY = velY;
+ data.velocityRotation = velRot;
+ reinitTripleBuffer(data);
}
void
--
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