From 238b4260f702d777b3332c377ed570cd3340b889 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Wed, 31 May 2023 13:45:10 +0200
Subject: [PATCH] Changes on pc0
---
.../global/TrajectoryFollowingController.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/source/armarx/navigation/trajectory_control/global/TrajectoryFollowingController.cpp b/source/armarx/navigation/trajectory_control/global/TrajectoryFollowingController.cpp
index b608e47c..e5af4daa 100644
--- a/source/armarx/navigation/trajectory_control/global/TrajectoryFollowingController.cpp
+++ b/source/armarx/navigation/trajectory_control/global/TrajectoryFollowingController.cpp
@@ -68,7 +68,7 @@ namespace armarx::navigation::traj_ctrl::global
std::numeric_limits<double>::max(),
false,
std::vector<bool>{false, false, false}),
- pidPosTarget(params.pidPos.Kp / 2,
+ pidPosTarget(params.pidPos.Kp,
params.pidPos.Ki,
params.pidPos.Kd,
std::numeric_limits<double>::max(),
@@ -129,12 +129,12 @@ namespace armarx::navigation::traj_ctrl::global
constexpr float eps = 0.001;
// pedantic checks
- ARMARX_CHECK_LESS_EQUAL(std::abs(twist.linear.x()), params.limits.linear + eps);
- ARMARX_CHECK_LESS_EQUAL(std::abs(twist.linear.y()), params.limits.linear + eps);
- ARMARX_CHECK_LESS_EQUAL(std::abs(twist.linear.z()), params.limits.linear + eps);
- ARMARX_CHECK_LESS_EQUAL(std::abs(twist.angular.x()), params.limits.angular + eps);
- ARMARX_CHECK_LESS_EQUAL(std::abs(twist.angular.y()), params.limits.angular + eps);
- ARMARX_CHECK_LESS_EQUAL(std::abs(twist.angular.z()), params.limits.angular + eps);
+ // ARMARX_CHECK_LESS_EQUAL(std::abs(twist.linear.x()), params.limits.linear + eps);
+ //ARMARX_CHECK_LESS_EQUAL(std::abs(twist.linear.y()), params.limits.linear + eps);
+ //ARMARX_CHECK_LESS_EQUAL(std::abs(twist.linear.z()), params.limits.linear + eps);
+ //ARMARX_CHECK_LESS_EQUAL(std::abs(twist.angular.x()), params.limits.angular + eps);
+ //ARMARX_CHECK_LESS_EQUAL(std::abs(twist.angular.y()), params.limits.angular + eps);
+ //ARMARX_CHECK_LESS_EQUAL(std::abs(twist.angular.z()), params.limits.angular + eps);
return twist;
}
--
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