From c3a3b8a7d2964a89ed6f9789b7489d4d55e66265 Mon Sep 17 00:00:00 2001
From: armar-user <armar-user@kit.edu>
Date: Sun, 7 Mar 2021 13:28:46 +0100
Subject: [PATCH] added jointlimit avoidance for manipulability
---
.../DMPController/NJointPeriodicTSDMPCompliantController.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
index cd701d8b6..044c43098 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
@@ -516,7 +516,7 @@ namespace armarx
float manidist = 0;
if (isManipulability)
{
- nullspaceTorque = manipulabilityTracker->calculateVelocity(targetManipulability, kmani);
+ nullspaceTorque = manipulabilityTracker->calculateVelocity(targetManipulability, kmani, true);
manidist = manipulabilityTracker->computeDistance(targetManipulability);
}
else
--
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