From 370ac25036da4eb208f0201afeda03b51c18e0c2 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Tue, 29 Jun 2021 09:43:46 +0200
Subject: [PATCH] Fixed wrong vector type of knull and dnull
---
.../DMPController/NJointTaskSpaceImpedanceDMPController.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 762d3f240..1c5732543 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -283,8 +283,8 @@ namespace armarx
Eigen::Vector3f dpos = ctrlParams.getUpToDateReadBuffer().dpos;
Eigen::Vector3f kori = ctrlParams.getUpToDateReadBuffer().kori;
Eigen::Vector3f dori = ctrlParams.getUpToDateReadBuffer().dori;
- Eigen::Vector3f knull = ctrlParams.getUpToDateReadBuffer().knull;
- Eigen::Vector3f dnull = ctrlParams.getUpToDateReadBuffer().dnull;
+ Eigen::VectorXf knull = ctrlParams.getUpToDateReadBuffer().knull;
+ Eigen::VectorXf dnull = ctrlParams.getUpToDateReadBuffer().dnull;
Eigen::Vector6f jointControlWrench;
{
--
GitLab