From f8c4ebcd8ef67bdd9c3dbd4560a93f22a9daa44f Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Mon, 10 May 2021 14:00:02 +0200
Subject: [PATCH] Added removeAllViaPoints interface method to
NJointTaskSpaceImpedanceDMPController
---
.../units/RobotUnit/NJointTaskSpaceDMPController.ice | 1 +
.../DMPController/NJointTaskSpaceImpedanceDMPController.cpp | 6 ++++++
.../DMPController/NJointTaskSpaceImpedanceDMPController.h | 2 ++
3 files changed, 9 insertions(+)
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
index 2f039d60c..38cdb96be 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
@@ -340,6 +340,7 @@ module armarx
void resetDMP();
void stopDMP();
void resumeDMP();
+ void removeAllViaPoints();
void setMPWeights(DoubleSeqSeq weights);
DoubleSeqSeq getMPWeights();
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 0ed7f2136..70fae3d0b 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -575,6 +575,12 @@ namespace armarx
return resvec;
}
+ void NJointTaskSpaceImpedanceDMPController::removeAllViaPoints(const Ice::Current&)
+ {
+ LockGuardType guard {controllerMutex};
+ ARMARX_INFO << "setting via points ";
+ dmpCtrl->removeAllViaPoints();
+ }
}
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
index 412a46f20..34bd9785c 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
@@ -74,6 +74,8 @@ namespace armarx
void setMPWeights(const DoubleSeqSeq& weights, const Ice::Current&);
DoubleSeqSeq getMPWeights(const Ice::Current&);
+ void removeAllViaPoints(const Ice::Current&) override;
+
protected:
virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
--
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