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Commit eb9c9a14 authored by Fabian Reister's avatar Fabian Reister
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avoiding unnecessary copy

parent 1741ed76
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2 merge requests!170ArMem Viewer: Resolve Memory IDs,!169bugfix: platform position controller is turning into wrong direction
......@@ -22,7 +22,9 @@
* GNU General Public License
*/
#include "NJointHolonomicPlatformGlobalPositionController.h"
#include <cmath>
#include <SimoxUtility/math/periodic/periodic_clamp.h>
namespace armarx
......@@ -87,7 +89,7 @@ namespace armarx
const Eigen::Rotation2Df global_R_local(-measuredOrientation);
Eigen::Vector2f velocities = global_R_local * Eigen::Vector2f(pid.getControlValue()[0], pid.getControlValue()[1]);
Eigen::Vector2f velocities = global_R_local * pid.getControlValue();
target->velocityX = velocities.x();
target->velocityY = velocities.y();
target->velocityRotation = static_cast<float>(opid.getControlValue());
......
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