From 1163d0606d760b20dc20e7702d8cf94eab6e5f75 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Wed, 14 Jul 2021 16:43:22 +0200
Subject: [PATCH] (FR) ObstacleAwarePlatformUnit: ensuring that max velocities
are positive
---
.../ObstacleAwarePlatformUnit.cpp | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
index 2acb4a23b..fd1ee293d 100644
--- a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
+++ b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
@@ -230,10 +230,14 @@ armarx::ObstacleAwarePlatformUnit::moveRelative(
void
armarx::ObstacleAwarePlatformUnit::setMaxVelocities(
- const float max_pos_vel,
- const float max_rot_vel,
+ float max_pos_vel,
+ float max_rot_vel,
const Ice::Current&)
{
+ // ensure positiveness
+ max_pos_vel = std::max(max_pos_vel, 0.F);
+ max_rot_vel = std::max(max_rot_vel, 0.F);
+
std::scoped_lock l{m_control_data.mutex};
m_control_data.max_vel = max_pos_vel;
m_control_data.max_rot_vel = max_rot_vel;
--
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