From 577a75ae80d054eb32f14bd29958924eb03972d8 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Wed, 14 Jul 2021 16:44:21 +0200
Subject: [PATCH] (FR) ObstacleAwarePlatformUnit: optional values for
DebugObserver
---
.../ObstacleAwarePlatformUnit.cpp | 14 +++++++++++++-
1 file changed, 13 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
index fd1ee293d..1118e3a06 100644
--- a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
+++ b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
@@ -324,7 +324,19 @@ armarx::ObstacleAwarePlatformUnit::high_level_control_loop()
m["modulated_local_y"] = new Variant{vels.modulated_local.y()};
m["modulated_local_abs"] = new Variant{vels.modulated_local.norm()};
- setDebugObserverChannel("ObstacleAvoidingPlatformCtrl", m);
+// m["max_rot_vel"] = new Variant{m_control_data.max_rot_vel};
+// m["max_lin_vel"] = new Variant{m_control_data.max_vel};
+
+// m["rot_desired"] = new Variant{m_control_data.target_ori};
+// m["rot_measured"] = new Variant{m_control_data.agent_ori};
+
+// m["pos_x_desired"] = new Variant{m_control_data.target_pos.x()};
+// m["pos_x_measured"] = new Variant{m_control_data.agent_pos.y()};
+
+// m["pos_y_desired"] = new Variant{m_control_data.target_pos.x()};
+// m["pos_y_measured"] = new Variant{m_control_data.agent_pos.y()};
+
+ setDebugObserverChannel("ObstacleAwarePlatformCtrl", m);
m_platform->move(vels.modulated_local.x(), vels.modulated_local.y(), vels.target_rot);
visualize(vels);
--
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