From e740c85ee375fa93dc5039e23f27e36ed066fa04 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Wed, 23 Mar 2016 01:08:01 +0100
Subject: [PATCH] deactivated buggy joint limit avoidance
---
.../components/units/TCPControlUnit.cpp | 18 +++++++++---------
.../RobotAPI/components/units/TCPControlUnit.h | 2 +-
2 files changed, 10 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 6af845d80..7b0c9430d 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -514,17 +514,17 @@ namespace armarx
}*/
// added by David S
- const float maxJointLimitCompensationRatio = 0.8;
+ const float maxJointLimitCompensationRatio = 1.0f;
- if (jointLimitCompensation(0) == jointLimitCompensation(0))
- {
- if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio * jointDelta.norm())
- {
- jointLimitCompensation = maxJointLimitCompensationRatio * jointDelta.norm() / jointLimitCompensation.norm() * jointLimitCompensation;
- }
+ // if (jointLimitCompensation(0) == jointLimitCompensation(0))
+ // {
+ // // if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio * jointDelta.norm())
+ // // {
+ // // jointLimitCompensation = maxJointLimitCompensationRatio * jointDelta.norm() / jointLimitCompensation.norm() * jointLimitCompensation;
+ // // }
- jointDelta += jointLimitCompensation;
- }
+ // jointDelta += jointLimitCompensation;
+ // }
jointDelta /= (cycleTime * 0.001);
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 5475c6b2a..eeea47731 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -50,7 +50,7 @@ namespace armarx
defineOptionalProperty<float>("MaxJointVelocity", 30.f / 180 * 3.141, "Maximal joint velocity in rad/sec");
defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
- defineOptionalProperty<float>("MaximumCommandDelay", 20000, "Delay after which the TCP Control unit releases itself if no new velocity have been set.");
+ // defineOptionalProperty<float>("MaximumCommandDelay", 20000, "Delay after which the TCP Control unit releases itself if no new velocity have been set.");
defineOptionalProperty<std::string>("TCPsToReport", "", "comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none");
defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
--
GitLab