From d795907017ed696f69c1ccbb639aab7509d637bc Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 27 May 2021 08:29:00 +0200
Subject: [PATCH] VelocityControllerHelper: changing VectorXf to Vector6f
VectorXf is not guaranted to have 6 elements.
---
.../RobotStatechartHelpers/VelocityControllerHelper.cpp | 2 +-
.../libraries/RobotStatechartHelpers/VelocityControllerHelper.h | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
index 456671e79..4fcd3e452 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
@@ -57,7 +57,7 @@ namespace armarx
controller->activateController();
}
- void VelocityControllerHelper::setTargetVelocity(const Eigen::VectorXf& cv)
+ void VelocityControllerHelper::setTargetVelocity(const Eigen::Vector6f& cv)
{
controller->setTargetVelocity(cv(0), cv(1), cv(2), cv(3), cv(4), cv(5));
}
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
index c93de51af..ab47ffacc 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
@@ -43,7 +43,7 @@ namespace armarx
void init();
- void setTargetVelocity(const Eigen::VectorXf& cv);
+ void setTargetVelocity(const Eigen::Vector6f& cv);
void setNullSpaceControl(bool enabled);
--
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